1. Legged walking robot design applying the adaptive behavior of passive dynamic walking and interconnections among the different dynamics.
- Author
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Iribe, Masatsugu, Fukuda, Kaito, Kinugasa, Tetsuya, and Osuka, Koichi
- Subjects
ROBOT design & construction ,DEGREES of freedom ,PASSIVITY (Psychology) ,SLOPES (Soil mechanics) ,COMPUTER simulation - Abstract
In this paper, the authors propose a new design methodology for legged walking robots with dynamic characteristics suitable for walking motions by applying the unique properties of Passive Dynamic Walking as design criteria. The authors have identified the 'adaptive behaviour', in which the passive dynamic walking robot automatically adjusts its gait to keep walking in response to variations in physical parameters, such as the slope angle or mass, that constitute its mechanics. Furthermore, the authors discovered that this adaptive behaviour enables the transition of the structure and degrees of freedom of the passive dynamic walking robot to different mechanical systems through the application of 'interconnections among different dynamics'. This paper introduces new mechanical design approach for legged robots that applies these unique properties, with its validity verified through the computer simulations. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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