Quadruped walking by joint-interlocking control based on the assumption of point-contact (comparison between pace gait and crawl gait based on the energy consumption)

Yoshihiko Asano, Masahiro Doi, Yasuhisa Hasegawa, Takayuki Matsuno, Toshio Fukuda

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

This paper proposes a control algorithm for pace gait of a quadruped walking robot, using & passive dynamics autonomous control algorithm (PDAC). The PDAC realizes an efficient motion based on the intrinsic dynamics of a robot. This paper first calculates an energy consumption of the pace and a crawl gait at various walking parameters such as a stride length and a walking period. The optimal walking parameters are obtained for each gait at various walking speed in the simulation and their parameters are confirmed by applied to an experimental walking robot. The trend of the energy consumption transition measured in the experiments are similar to those in the simulation. For example the consumption energy of the pace gait becomes less than that of crawl gait when a walking speed becomes relatively high. As a result, quadruped walking parameters corresponding to the desired walking speed such as the type of gait, the stride length and the walking period are designed on the energy-consumption-basis.

Original languageEnglish
Pages (from-to)230-236
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume73
Issue number1
DOIs
Publication statusPublished - Jan 2007
Externally publishedYes

Keywords

  • Crawl gait
  • Dynamics
  • Energy consumption
  • Legged locomotion
  • Motion control
  • Pace gait
  • Passive dynamics autonomous control
  • Quadruped walking
  • Robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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