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Development and motion control of a biped walking robot based on passive walking theory

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Abstract

This research aims to develop the biped walking robot that can walk on the horizontal ground and improve walking efficiency by utilizing the theory of the passive walking robot, namely the pendulum principle. For that, two motors were installed on the hip of the robot to generate the control torques to perform a walking motion. The computer simulations with dynamic model were carried out to investigate the walking capability of the system. Experimental robot was developed considering the calculated results. The proportional control law was used in walking experiment. The robot can walk on the horizontal ground with the proposed method.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Graduate School of Science and Engineering, Ehime University, 3 Bunkyocho, Matsuyama, 790-8577, Japan

    Jae Hoon Lee & Shingo Okamoto

  2. Mitsubishi Electric Engineering Company Ltd., Himeji, Japan

    Hisashi Koike

  3. GS Yuasa International Ltd., Kyoto, Japan

    Keiya Tani

Authors
  1. Jae Hoon Lee
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  2. Shingo Okamoto
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  3. Hisashi Koike
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  4. Keiya Tani
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Corresponding author

Correspondence to Jae Hoon Lee.

Additional information

This work was presented in part at the 18th International Symposium on Artificial Life and Robotics, Daejeon, Korea, January 30–February 1, 2013.

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Lee, J.H., Okamoto, S., Koike, H. et al. Development and motion control of a biped walking robot based on passive walking theory. Artif Life Robotics 19, 68–75 (2014). https://doi.org/10.1007/s10015-013-0132-y

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  • DOI: https://doi.org/10.1007/s10015-013-0132-y

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