Passive dynamic walking with elastic energy

Author

Mizuno, Masahiro ; Ohtake, Hiroshi ; Tanaka, Kazuo ; Wang, Hua O.

Author_Institution

Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu

fYear

2008

fDate

20-22 Aug. 2008

Firstpage

3224

Lastpage

3228

Abstract

This paper presents passive dynamic walking with elastic energy. We propose a new type of passive dynamic walking robot. by adding elastic materials such as spring or rubber between a supporting leg and a swing leg of the robot By utilizing restoring force of spring or rubber, we can make the passive dynamic walking robot easily walk since the crotch angle between legs is restricted. In this paper, we firstly derive dynamics of the passive dynamic walking robot with elastic energy. Next, we show the effectiveness of adding elastic energy by computer simulation. Finally, we make the actual passive dynamic walking robot with elastic energy and carry out walking experiments.

Keywords

elastodynamics; mobile robots; robot dynamics; rubber; springs (mechanical); crotch angle; elastic energy; elastic materials; passive dynamic walking robot; rubber; spring; Aerodynamics; Aerospace materials; Computer simulation; Intelligent systems; Leg; Legged locomotion; Mechanical engineering; Nonlinear dynamical systems; Rubber; Springs; Elastic Energy; Passive Dynamic Walking;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference, 2008

Conference_Location

Tokyo

Print_ISBN

978-4-907764-30-2

Electronic_ISBN

978-4-907764-29-6

Type

conf

DOI

10.1109/SICE.2008.4655220

Filename

4655220