Simulation verification for the robustness of passive compass gait with a joint stiffness adjustment

A passive walking robot can achieve a smooth gait without any sensory feedback while walking down a slope. This phenomenon is based on the transformation of potential energy into kinetic energy in the legs. Although the entrainment is observed in a passive gait motion, there is a possibility that th...

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Bibliographic Details
Published inAdvanced robotics Vol. 33; no. 21; pp. 1129 - 1143
Main Authors Kino, Hitoshi, Sakata, Kosuke, Uemura, Mitsunori, Mori, Naofumi
Format Journal Article
LanguageEnglish
Published Taylor & Francis 02.11.2019
Subjects
joint stiffness
parameter verification
Passive walk
robustness
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Summary:A passive walking robot can achieve a smooth gait without any sensory feedback while walking down a slope. This phenomenon is based on the transformation of potential energy into kinetic energy in the legs. Although the entrainment is observed in a passive gait motion, there is a possibility that the passive gait cannot be achieved in the case of variations in physical parameters, initial conditions, and disturbances. To realize a robust passive gait against variations in physical parameters, this paper proposes a passive gait system that possesses a joint stiffness adjustment. Targeting a compass model, this paper investigates the effectiveness of the proposed method for a passive gait against variations in slope angle and hip joint mass through simulation. As a result, the simulation results show that this method especially has strong robustness against the slope angle variation.
ISSN:0169-1864
1568-5535
DOI:10.1080/01691864.2019.1671894