Development of whole body walking control for high-speed limit cycle walking

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K18090
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Kyushu Institute of Technology
• Principal Investigator: Hanazawa Yuta 九州工業大学, 大学院工学研究院, 助教 (40714770)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: legged robot / biped walking / mobile robot

Outline of Final Research Achievements

In this study, I investigated a walking generation method using the whole body motions to achieve high-speed limit cycle walking. Biped walking generation methods using lower body motions were studied. We however consider that walking generation methods using effects of arm-swing motions and inclining torso posture to achieve high-speed limit cycle walking. We first showed a novel running robot with an inerter. The robot can improve the running speed using inerter effects, since the inerter can change the natural period of the up-and-down motion of the robots. Moreover, we developed a novel mobile robot with a wobbling mass. This robot achieves level ground walking using effects of up-and-down motions of the wobbling mass. The periodic up-and-down motion of the wobbling mass generate propulsive effects of the robots. So, our mobile robot can walk on level ground with vertical torso posture.

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