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The International Journal of Robotics Research
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Self-Excited Walking of a Biped Mechanism with Feet

Kyosuke Ono

Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1, 0kayama, Meguro-ku, Tokyo 152-8552, Japanono{at}mech.titech.ac.jp

Takasahi Furuichi

Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1, 0kayama, Meguro-ku, Tokyo 152-8552, Japan

Ryutaro Takahashi

Schulumberger K.K. 2-2-1, Fuchinobe, Sagamihara-city, Kanagawa 229-0006, Japan

In this paper we present a theoretical and experimental study of the self-excited walking of a biped mechanism with knees and feet on level ground. This biped mechanism possesses a single motor at the hip joint and active lock mechanisms at both knee joints. We first show that the self-excitation control enables the three-degrees-of-freedom planar biped model with feet to walk on level ground, and that a stable walking locomotion is possible over a wide range of feedback gain and a foot radius of up to 0.3 m. Subsequently, we describe the manufactured biped Robot 2 which is similar to the analytical model and we show that the biped robot can perform natural dynamic walking on a level floor. It is also shown that the simulated results agree well with the experimental results. We further describe the wireless-controlled biped Robot 3, which can walk on a level floor carrying batteries and electronic circuits inside the thighs.

Key Words: biped mechanism • natural walking • selfexcited walking • simulation • experiment

The International Journal of Robotics Research, Vol. 23, No. 1, 55-68 (2004)
DOI: 10.1177/0278364904038888
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