A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle

Yoshihisa Banno; Kouichi Taji; Yuji Harata; Kyohei Seta

doi:doi:10.11648/j.acis.20140205.14

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A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle

Yoshihisa Banno, Kouichi Taji, Yuji Harata, Kyohei Seta

Published in Automation, Control and Intelligent Systems (Volume 2, Issue 5)

Received: 5 November 2014 Accepted: 15 November 2014 Published: 20 November 2014

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Abstract

Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation walking. Recently, we have developed an experimental kneed biped robot and have shown the robot can walk more than fifteen steps stably in inverse bending fashion. But the robot has a deficiency in that the robot does not have a ground sensor and the robot is controlled only in open-loop fashion. In this paper, we modify and improve the robot by using a ground sensor and shock absorbing material to enable to control in closed-loop fashion and hence, to improve the gait performance. The experiments are performed and the walking performance of the robot is investigated. The experimental results are compared with the numerical results, and the validity of the numerical simulation is verified.

Published in	Automation, Control and Intelligent Systems (Volume 2, Issue 5)
DOI	10.11648/j.acis.20140205.14
Page(s)	93-99
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2014. Published by Science Publishing Group

Keywords

Parametric Excitation, Biped Robot, Passive Dynamic Walking, Experimental Robot, Walking Demonstration

References

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[2]	A. Goswami, B. Espiau and A. Keramane, “Limit cycles in a passive compass gait biped and passivity-mimicking control laws,” Journal of Autonomous Robots, vol. 4, no. 3, pp. 273-286, 1997.
[3]	F. Asano, M. Yamakita and K. Furuta, “Virtual passive dynamic walking and energy-based control laws,” Proceedings of the IEEE International Conference on Robotics and Systems, Takamatu, Japan, vol. 2, pp. 1149-1154, 2000.
[4]	S. Collins, A. Ruina, R. Tedrake and M. Wisse, “Efficient bipedal robots based on passive-dynamic walkers,” Science, vol. 307, pp.1082-1085, 2005.
[5]	E. Dertien, “Dynamic walking with dribbel,” IEEE Robotics and Automation Magazine, vol. 13, no. 3, pp. 118-122, 2006.
[6]	F. Asano, Z. W. Luo and S. Hyon, “Parametric excitation mechanisms for dynamic bipedal walking,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 611-617, 2005.
[7]	Y. Harata, F Asano, Z. W. Luo, K. Taji and Y. Uno, “Biped gait generation based on parametric excitation by knee-joint actuation,” Robotica, vol. 27, no. 7, pp. 1063-1073, 2009.
[8]	Y. Harata, F. Asano, K. Taji and Y. Uno, “Parametric excitation-based inverse bending gait generation,” Robotica, vol. 29, no. 6, pp. 831-841, 2011.
[9]	F. Asano, T. Hayashi, Z. W. Luo, S. Hirano and A. Kato, “Parametric excitation approaches to efficient bipedal walking,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, pp. 2210-2216, 2007.
[10]	T. Hayashi, F. Asano, Z.W. Luo, A. Nagano, K. Kaneko and A. Kato, “Experimental study of a parametric excited dynamic bipedal walker with counterweights,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 81-86, 2009.
[11]	Y. Banno, Y. Harata, K. Taji and Y. Uno, “Development and experiment of a kneed biped walking robot based on parametric excitation principle,” Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2735-2740, 2011.
[12]	K. Taji, Y. Banno and Y. Harata, “An optimizing method for a reference trajectory of parametric excitation walking,” Robotica, vol. 29, no. 4, pp. 585-593, 2011.
[13]	F. Asano and Z.W. Luo, “Efficient dynamic bipedal walking using effects of semicircular feet,” Robotica, vol. 29, no. 3, pp. 3512-365, 2011.
[14]	Y. Harata, Y. Banno and K. Taji, “Parametric excitation based bipedal walking: control method and optimization,” Numerical Algebra, Control and Optimization, vol. 1, no. 1, pp. 171-190, 2011.
[15]	http://www.taica.co.jp/gel-english/
[16]	http://www.uno.nuem.nagoya-u.ac.jp/~taji/index-e.html
[17]	T. Narukawa, K. Yokoyama and M. Takahashi, “Numerical and Experimental Studies of Planar Passive Biped Walker with Flat Feet and Ankle Springs,” Journal of System Design and Dynamics, vol. 4, no. 6, pp. 848-856, 2010.
[18]	M. Wisse, D. G. E. Hobbelen, R. J. J. Rotteveel, S. I. Anderson and G. J. Zeglin, “Ankle springs instead of arc-shaped feet for passive dynamic walkers,” Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 110-116, 2006.
[19]	Y. Hanazawa and M. Yamakita, “High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles,”Journal of Robotics and Mechatronics, vol. 24, no. 3, pp. 498-506, 2012.

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APA Style

Yoshihisa Banno, Kouichi Taji, Yuji Harata, Kyohei Seta. (2014). A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle. Automation, Control and Intelligent Systems, 2(5), 93-99. https://doi.org/10.11648/j.acis.20140205.14

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ACS Style

Yoshihisa Banno; Kouichi Taji; Yuji Harata; Kyohei Seta. A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle. Autom. Control Intell. Syst. 2014, 2(5), 93-99. doi: 10.11648/j.acis.20140205.14

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AMA Style

Yoshihisa Banno, Kouichi Taji, Yuji Harata, Kyohei Seta. A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle. Autom Control Intell Syst. 2014;2(5):93-99. doi: 10.11648/j.acis.20140205.14

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@article{10.11648/j.acis.20140205.14,
  author = {Yoshihisa Banno and Kouichi Taji and Yuji Harata and Kyohei Seta},
  title = {A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle},
  journal = {Automation, Control and Intelligent Systems},
  volume = {2},
  number = {5},
  pages = {93-99},
  doi = {10.11648/j.acis.20140205.14},
  url = {https://doi.org/10.11648/j.acis.20140205.14},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20140205.14},
  abstract = {Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation walking. Recently, we have developed an experimental kneed biped robot and have shown the robot can walk more than fifteen steps stably in inverse bending fashion. But the robot has a deficiency in that the robot does not have a ground sensor and the robot is controlled only in open-loop fashion. In this paper, we modify and improve the robot by using a ground sensor and shock absorbing material to enable to control in closed-loop fashion and hence, to improve the gait performance. The experiments are performed and the walking performance of the robot is investigated. The experimental results are compared with the numerical results, and the validity of the numerical simulation is verified.},
 year = {2014}
}

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TY  - JOUR
T1  - A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle
AU  - Yoshihisa Banno
AU  - Kouichi Taji
AU  - Yuji Harata
AU  - Kyohei Seta
Y1  - 2014/11/20
PY  - 2014
N1  - https://doi.org/10.11648/j.acis.20140205.14
DO  - 10.11648/j.acis.20140205.14
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 93
EP  - 99
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20140205.14
AB  - Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation walking. Recently, we have developed an experimental kneed biped robot and have shown the robot can walk more than fifteen steps stably in inverse bending fashion. But the robot has a deficiency in that the robot does not have a ground sensor and the robot is controlled only in open-loop fashion. In this paper, we modify and improve the robot by using a ground sensor and shock absorbing material to enable to control in closed-loop fashion and hence, to improve the gait performance. The experiments are performed and the walking performance of the robot is investigated. The experimental results are compared with the numerical results, and the validity of the numerical simulation is verified.
VL  - 2
IS  - 5
ER  -

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Author Information

Yoshihisa Banno

Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo, Chikusa, Nagoya, 464-8603, Japan
Kouichi Taji

Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo, Chikusa, Nagoya, 464-8603, Japan
Yuji Harata

Division of Mechanical Systems and Applied Mechanics, Faculty of Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, 739-8527, Japan
Kyohei Seta

Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo, Chikusa, Nagoya, 464-8603, Japan

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Plain Text BibTeX RIS

APA Style

Yoshihisa Banno, Kouichi Taji, Yuji Harata, Kyohei Seta. (2014). A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle. Automation, Control and Intelligent Systems, 2(5), 93-99. https://doi.org/10.11648/j.acis.20140205.14

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ACS Style

Yoshihisa Banno; Kouichi Taji; Yuji Harata; Kyohei Seta. A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle. Autom. Control Intell. Syst. 2014, 2(5), 93-99. doi: 10.11648/j.acis.20140205.14

Copy | Download

AMA Style

Yoshihisa Banno, Kouichi Taji, Yuji Harata, Kyohei Seta. A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle. Autom Control Intell Syst. 2014;2(5):93-99. doi: 10.11648/j.acis.20140205.14

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@article{10.11648/j.acis.20140205.14,
  author = {Yoshihisa Banno and Kouichi Taji and Yuji Harata and Kyohei Seta},
  title = {A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle},
  journal = {Automation, Control and Intelligent Systems},
  volume = {2},
  number = {5},
  pages = {93-99},
  doi = {10.11648/j.acis.20140205.14},
  url = {https://doi.org/10.11648/j.acis.20140205.14},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20140205.14},
  abstract = {Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation walking. Recently, we have developed an experimental kneed biped robot and have shown the robot can walk more than fifteen steps stably in inverse bending fashion. But the robot has a deficiency in that the robot does not have a ground sensor and the robot is controlled only in open-loop fashion. In this paper, we modify and improve the robot by using a ground sensor and shock absorbing material to enable to control in closed-loop fashion and hence, to improve the gait performance. The experiments are performed and the walking performance of the robot is investigated. The experimental results are compared with the numerical results, and the validity of the numerical simulation is verified.},
 year = {2014}
}

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TY  - JOUR
T1  - A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle
AU  - Yoshihisa Banno
AU  - Kouichi Taji
AU  - Yuji Harata
AU  - Kyohei Seta
Y1  - 2014/11/20
PY  - 2014
N1  - https://doi.org/10.11648/j.acis.20140205.14
DO  - 10.11648/j.acis.20140205.14
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 93
EP  - 99
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20140205.14
AB  - Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation walking. Recently, we have developed an experimental kneed biped robot and have shown the robot can walk more than fifteen steps stably in inverse bending fashion. But the robot has a deficiency in that the robot does not have a ground sensor and the robot is controlled only in open-loop fashion. In this paper, we modify and improve the robot by using a ground sensor and shock absorbing material to enable to control in closed-loop fashion and hence, to improve the gait performance. The experiments are performed and the walking performance of the robot is investigated. The experimental results are compared with the numerical results, and the validity of the numerical simulation is verified.
VL  - 2
IS  - 5
ER  -

Copy | Download