GRASP Special Seminar - Tadayoshi Aoyama, Nagoya University, "Bipedal Walking Control of the Multi-Locomotion Robot"
Friday, June 10, 2011 - 2:00pm to 3:00pm
Abstract: First, the concept of “Multi–Locomotion Robot” that
has multiple types of locomotion is introduced. The robot is developed
to achieve a bipedal walk, a quadruped walk and a brachiation,
mimicking locomotion ways of a gorilla. It therefore has higher
mobility by selecting a proper locomotion type according to its
environment and purpose. I show you some experimental videos with
respect to realized motions before now.Second, I focus on biped walk and talk about detail of bipedal walking.
This part proposes a 3-D biped walking algorithm based on Passive
Dynamic Autonomous Control (PDAC). The robot dynamics is modeled as an
autonomous system of a 3-D inverted pendulum by applying the PDAC
concept that is based on the assumption of point contact of the robot
foot and the virtual constraint as to robot joints. Due to autonomy,
there are two conservative quantities named “PDAC constant”, that
determine the velocity and direction of the biped walking. We also
propose the convergence algorithm to make PDAC constants converge to
arbitrary values, so that walking velocity and direction are
controllable. Finally, experimental results validate the performance
and the energy efficiency of the proposed algorithm.