Proposal of smooth biped walking control by means of heel-off motion

Masahiro Doi, Takayuki Matsuno, Yasuhisa Hasegawa, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We adopt the approximate 1-mass model in both planes and derive the dynamics based on these models. It is assumed that the lateral motion is relevant to heel-off motion. On the other hand, in the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. By applying PDAC to the dynamics, phase around the contact point can be derived. By means of this phase of dynamics, it is possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1591-1596
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

Fingerprint

Point contacts
Stabilization
Controllers
Computer simulation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Doi, M., Matsuno, T., Hasegawa, Y., & Fukuda, T. (2006). Proposal of smooth biped walking control by means of heel-off motion. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2006, pp. 1591-1596). [1641934] https://doi.org/10.1109/ROBOT.2006.1641934

Proposal of smooth biped walking control by means of heel-off motion. / Doi, Masahiro; Matsuno, Takayuki; Hasegawa, Yasuhisa; Fukuda, Toshio.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. p. 1591-1596 1641934.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Doi, M, Matsuno, T, Hasegawa, Y & Fukuda, T 2006, Proposal of smooth biped walking control by means of heel-off motion. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 1641934, pp. 1591-1596, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641934
Doi M, Matsuno T, Hasegawa Y, Fukuda T. Proposal of smooth biped walking control by means of heel-off motion. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006. 2006. p. 1591-1596. 1641934 https://doi.org/10.1109/ROBOT.2006.1641934
Doi, Masahiro ; Matsuno, Takayuki ; Hasegawa, Yasuhisa ; Fukuda, Toshio. / Proposal of smooth biped walking control by means of heel-off motion. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. pp. 1591-1596
@inproceedings{f55268783348437ea91e74e5500a1d15,
title = "Proposal of smooth biped walking control by means of heel-off motion",
abstract = "This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We adopt the approximate 1-mass model in both planes and derive the dynamics based on these models. It is assumed that the lateral motion is relevant to heel-off motion. On the other hand, in the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. By applying PDAC to the dynamics, phase around the contact point can be derived. By means of this phase of dynamics, it is possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.",
author = "Masahiro Doi and Takayuki Matsuno and Yasuhisa Hasegawa and Toshio Fukuda",
year = "2006",
doi = "10.1109/ROBOT.2006.1641934",
language = "English",
isbn = "0780395069",
volume = "2006",
pages = "1591--1596",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - Proposal of smooth biped walking control by means of heel-off motion

AU - Doi, Masahiro

AU - Matsuno, Takayuki

AU - Hasegawa, Yasuhisa

AU - Fukuda, Toshio

PY - 2006

Y1 - 2006

N2 - This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We adopt the approximate 1-mass model in both planes and derive the dynamics based on these models. It is assumed that the lateral motion is relevant to heel-off motion. On the other hand, in the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. By applying PDAC to the dynamics, phase around the contact point can be derived. By means of this phase of dynamics, it is possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

AB - This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We adopt the approximate 1-mass model in both planes and derive the dynamics based on these models. It is assumed that the lateral motion is relevant to heel-off motion. On the other hand, in the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. By applying PDAC to the dynamics, phase around the contact point can be derived. By means of this phase of dynamics, it is possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

UR - http://www.scopus.com/inward/record.url?scp=33845611954&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33845611954&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2006.1641934

DO - 10.1109/ROBOT.2006.1641934

M3 - Conference contribution

SN - 0780395069

SN - 9780780395060

VL - 2006

SP - 1591

EP - 1596

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -