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Paper WeC210.1

Xu, Chunquan (The University of Electro-Communications), Ming, Aiguo (The University of Electro-Communications), Shimojo, Makoto (University of Electro-COmmunications)

A Unified Framework for Virtual Passive Bipedal Gait Generation

Scheduled for presentation during the Interactive Session "Interactive Session WeC-2" (WeC210), Wednesday, May 16, 2012, 15:00−15:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Passive Walking, Motion and Path Planning, Humanoid Robots

Abstract

It is well known a fine tuned unpowered biped machine can passively walk down a gentle slope. The in-depth understanding of the passivity is helpful to design more efficient bipedal gaits. In this paper, we investigate the principle mechanism of passive dynamic walking and propose a unified framework for virtual passive bipedal gait generation. The framework shows the physical systemís kinetic energy varies inversely proportional to the imitated virtual systemís potential energy. Based on this property we propose a kinetic energy tracking control law to realize virtual passive dynamic walking on any slopes in any virtual gravity fields. Numerical simulations are given to support our proposal.

 

 

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