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
Publication statusPublished - Jan 2007
Externally publishedYes

Fingerprint

Point contacts
Energy utilization
Robots
Experiments

Keywords

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

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

@article{2cbd49e99915418e88574695c61bee11,
title = "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)",
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.",
keywords = "Crawl gait, Dynamics, Energy consumption, Legged locomotion, Motion control, Pace gait, Passive dynamics autonomous control, Quadruped walking, Robot",
author = "Yoshihiko Asano and Masahiro Doi and Yasuhisa Hasegawa and Takayuki Matsuno and Toshio Fukuda",
year = "2007",
month = "1",
language = "English",
volume = "73",
pages = "230--236",
journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "Japan Society of Mechanical Engineers",
number = "1",

}

TY - JOUR

T1 - 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)

AU - Asano, Yoshihiko

AU - Doi, Masahiro

AU - Hasegawa, Yasuhisa

AU - Matsuno, Takayuki

AU - Fukuda, Toshio

PY - 2007/1

Y1 - 2007/1

N2 - 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.

AB - 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.

KW - Crawl gait

KW - Dynamics

KW - Energy consumption

KW - Legged locomotion

KW - Motion control

KW - Pace gait

KW - Passive dynamics autonomous control

KW - Quadruped walking

KW - Robot

UR - http://www.scopus.com/inward/record.url?scp=34248385270&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34248385270&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:34248385270

VL - 73

SP - 230

EP - 236

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 1

ER -