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A 3D passive dynamic biped with yaw and roll compensation

Published online by Cambridge University Press:  25 April 2001

M. Wisse
Affiliation:
Man-Machine Systems and Control, Delft University of Technology, Mekelweg 2, NL-2628 CD Delft, The Netherlands m.wisse@wbmt.tudelft.nl
A. L. Schwab
Affiliation:
Laboratory for Engineering Mechanics, Delft University of Technology, Mekelweg 2, NL-2628 CD Delft, The Netherlands
R. Q. vd. Linde
Affiliation:
Man-Machine Systems and Control, Delft University of Technology, Mekelweg 2, NL-2628 CD Delft, The Netherlands m.wisse@wbmt.tudelft.nl

Abstract

Autonomous walking bipedal machines, possibly useful for rehabilitation and entertainment purposes, need a high energy efficiency, offered by the concept of ‘Passive Dynamic Walking' (exploitation of the natural dynamics of the robot). 2D passive dynamic bipeds have been shown to be inherently stable, but in the third dimension two problematic degrees of freedom are introduced: yaw and roll.

We propose a design for a 3D biped with a pelvic body as a passive dynamic compensator, which will compensate for the undesired yaw and roll motion, and allow the rest of the robot to move as if it were a 2D machine. To test our design, we perform numerical simulations on a multibody model of the robot. With limit cycle analysis we calculate the stability of the robot when walking at its natural speed.

The simulation shows that the compensator, indeed, effectively compensates for both the yaw and the roll motion, and that the walker is stable.

Type
Research Article
Copyright
2001 Cambridge University Press

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