TY - GEN
T1 - Enhancing stability of a passive dynamic running biped by exploiting a nonlinear spring
AU - Owaki, Dai
AU - Ishiguro, Akio
PY - 2006/12/1
Y1 - 2006/12/1
N2 - Recently, it has been widely recognized that control and mechanical systems cannot be designed separately due to their tight interdependency. However, there still leaves much to be understood about how well-balanced coupling between control and mechanical systems can be achieved. Therefore, as an initial step toward this goal, this study intensively discusses the effect of the intrinsic dynamics of a robot's body on the resulting behavior, in the hope that mechanical systems appropriately designed will allow us to significantly reduce the complexity of control algorithm required. More precisely, we focus on the property of leg elasticity of a passive dynamic running biped, and investigate how this influences the stability of running. As a result, we have found that a certain type of nonlinearity in the leg elasticity plays a crucial role to enhance the stability of passive dynamic running. To the best of our knowledge, this has never been explicitly considered so far.
AB - Recently, it has been widely recognized that control and mechanical systems cannot be designed separately due to their tight interdependency. However, there still leaves much to be understood about how well-balanced coupling between control and mechanical systems can be achieved. Therefore, as an initial step toward this goal, this study intensively discusses the effect of the intrinsic dynamics of a robot's body on the resulting behavior, in the hope that mechanical systems appropriately designed will allow us to significantly reduce the complexity of control algorithm required. More precisely, we focus on the property of leg elasticity of a passive dynamic running biped, and investigate how this influences the stability of running. As a result, we have found that a certain type of nonlinearity in the leg elasticity plays a crucial role to enhance the stability of passive dynamic running. To the best of our knowledge, this has never been explicitly considered so far.
KW - Leg elasticity
KW - Mechanical dynamics
KW - Passife dynamic runner
KW - Stability of running
UR - http://www.scopus.com/inward/record.url?scp=34250636803&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250636803&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282452
DO - 10.1109/IROS.2006.282452
M3 - Conference contribution
AN - SCOPUS:34250636803
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4923
EP - 4928
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -