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Most of traditional biped walkers based on passive dynamic walking have arc feet and locked ankle joints. In this paper, we propose the method to substitute the arc feet with flat feet. We hypothesize that the shape of the arc feet corresponds to a circular roll-over shape (ROS), which is a shape of a trajectory of center of pressure in the shank-fixed frame. Firstly, we show that ankle joints driven...
The passive dynamic walker (PDW) has a remarkable characteristic that it realizes cyclic locomotion without planning the joint trajectories. However, it cannot control the walking behavior because it is dominated by the fixed body dynamics. Observing the human cyclic locomotion emerged by elastic muscles, we add the compliant hip joint on PDW, and we propose a "phasic dynamics tuner" that...
Recently, many researchers on humanoid robotics are interested in quasi-passive-dynamic walking (quasi-PDW) which is similar to human walking. It is desirable that control parameters in quasi-PDW are automatically adjusted because robots often suffer from changes in their physical parameters and the surrounding environment. Reinforcement learning (RL) can be a key technology to this adaptability,...
A McKibben artificial muscle has suitable properties for realizing walking and running biped robots such as light weight, springy nature, and efficiency. Since controlling McKibben muscles is difficult because of their nonlinearity, we have to design robot dynamic parameters carefully. If the parameters are designed properly, the walking controller can be simple. In this paper, we describe a developed...
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