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The International Journal of Robotics Research
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Towards Bipedal Jogging as a Natural Result of Optimizing Walking Speed for Passively Compliant Three-Segmented Legs

A. Seyfarth

University of Jena, Locomotion Lab Dornburger Strasse 23, D-07743 Jena, Germany, andre.seyfarth{at}uni-jena.de

F. Iida

University of Jena, Locomotion Lab Dornburger Strasse 23, D-07743 Jena, Germany, iida{at}csail.mit.edu

R. Tausch

Technische Universität Darmstadt, Simulation, Systems Optimization and Robotics Group Hochschulstrasse 10, D-64289 Darmstadt, Germany, tausch{at}sim.tu-darmstadt.de

M. Stelzer

Technische Universität Darmstadt, Simulation, Systems Optimization and Robotics Group Hochschulstrasse 10, D-64289 Darmstadt, Germany, stelzer{at}sim.tu-darmstadt.de

O. von Stryk

Technische Universität Darmstadt, Simulation, Systems Optimization and Robotics Group Hochschulstrasse 10, D-64289 Darmstadt, Germany, stryk{at}sim.tu-darmstadt.de

A. Karguth

TETRA - Gesellschaft für Sensorik, Robotik und Automation mbH Gewerbepark "Am Wald" 4 D-98693 Ilmenau, Germany, aku{at}tetra-ilmenau.de

Elasticity in conventionally built walking robots is an undesired side-effect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.

Key Words: locomotion • compliant legs • walking • running • control • optimization

The International Journal of Robotics Research, Vol. 28, No. 2, 257-265 (2009)
DOI: 10.1177/0278364908095843
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