Simulation verification for the robustness of passive compass gait with a joint stiffness adjustment. (2nd November 2019)

• Record Type: Journal Article
• Authors: Kino, Hitoshi; Sakata, Kosuke; Uemura, Mitsunori; Mori, Naofumi
• Is Part Of: Advanced robotics. Volume 33:Number 21(2019)
• Page Start: 1129
• Page End: 1143
• Publication Date: 2019-11-02
• Subjects: Passive walk -- robustness -- joint stiffness -- parameter verification; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2019.1671894
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: A passive walking robot can achieve a smooth gait without any sensory feedback while walking down a slope. This phenomenon is based on the transformation of potential energy into kinetic energy in the legs. Although the entrainment is observed in a passive gait motion, there is a possibility that the passive gait cannot be achieved in the case of variations in physical parameters, initial conditions, and disturbances. To realize a robust passive gait against variations in physical parameters, this paper proposes a passive gait system that possesses a joint stiffness adjustment. Targeting a compass model, this paper investigates the effectiveness of the proposed method for a passive gait against variations in slope angle and hip joint mass through simulation. As a result, the simulation results show that this method especially has strong robustness against the slope angle variation. GRAPHICAL ABSTRACT: