Understanding the Mechanism of Multi-timescale Integration Underlying Bipedal Locomotion

2010 Fiscal Year Final Research Report

• Project/Area Number: 21860007
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Single-year Grants
• Research Field: Control engineering
• Research Institution: Tohoku University
• Principal Investigator: OWAKI Dai Tohoku University, 大学院・工学研究科, 助教 (40551908)
• Project Period (FY): 2009 – 2010
• Keywords: 歩行・走行 / ロボット / 制御工学 / フィードバック構造 / 陰的制御則

Research Abstract

This study aims to propose a novel control law for a bipedal walking and running robot and develop the robots with the proposed control law for the engineering design, by focusing "Multi-timescale integration for spatiotemporal pattern generation". As a result, we have clarified the mechanism of multi-timescale integration, achieved a real-world passive bipedal running, and proposed a design methodology that well fits with the self-stabilization mechanism underlying passive dynamic running.

Research Products

• [Journal Article] An Oscillator Model That Enables Motion Stabilization and Motion Exploration by Exploiting Multi-rhythmicity (2011)
  • Author(s): Dai Owaki, Satoshi Ishida, Atsushi Tero, Kentaro Ito, Koh Nagasawa, Akio Ishiguro
  • Journal Title: Advanced Robotics Vol.25,No.8-9(in press)
  • Peer Reviewed
• [Journal Article] A Two-Dimensional Passive Dynamic Running Biped with Elastic Elements (2011)
  • Author(s): Dai Owaki, Masatoshi Koyama, Shin'ichi Yamaguchi, Shota Kubo, Akio Ishiguro
  • Journal Title: IEEE Transactions on Robotics Vol.27,issue 1 Pages: 156-162
  • Peer Reviewed
• [Journal Article] 運動安定化と運動探索をシームレスに統合可能なマルチリズミックオシレータモデルの提案～一次元ホッピングロボットの跳躍運動への適用～ (2010)
  • Author(s): 大脇大,坂井善行,石田怜,手老篤史,石黒章夫
  • Journal Title: 計測自動制御学会論文集 Vol.46,No.9 Pages: 562-571
  • Peer Reviewed
• [Presentation] 安定な準受動走行を実現する陰的制御則と陽的制御則の連関様式 (2010)
  • Author(s): 山口伸一,久保翔達,大脇大,杉本靖博,大須賀公一,石黒章夫
  • Organizer: 第11回計測自動制御学会(SICE)システムインテグレーション部門講演会(SI2010)
  • Place of Presentation: 仙台
  • Year and Date: 2010-12-23
• [Presentation] 上体を活用した受動走行機械の安定性向上 (2010)
  • Author(s): 大脇大,久保翔達,山口伸一,手老篤史,マウスモリツ,モフロァクリストフ,サイファートアンドレ,石黒章夫
  • Organizer: 第53回自動制御連合講演会(pp.284-289)
  • Place of Presentation: 高知
  • Year and Date: 2010-11-04
• [Presentation] Dual Structure of Mobiligence -Implicit Control and Explicit Control- (2010)
  • Author(s): Koichi Osuka, Akio Ishiguro, Xin-Zhi Zheng, Yasuhiro Sugimoto, Dai Owaki
  • Organizer: The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)(pp.2407-2412)
  • Place of Presentation: Taipei, Taiwan
  • Year and Date: 2010-10-20
• [Presentation] Christophe Maufroy, Andre Seyfarth and Akio Ishiguro, A Two-dimensional Passive Dynamic Runner with Upper Body (2010)
  • Author(s): Dai Owaki, Shota Kubo, Shin'ichi Yamaguchi, Atsushi Tero, Moritz Maus
  • Organizer: The 13th International Conference on Climbing and Walking Robots and the Support Technology for Mobile Robots (CLAWAR2010)(pp.622-630)
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 2010-09-01
• [Presentation] Implicit Control Law in Passive Dynamic Walking (2010)
  • Author(s): Koichi Osuka, Akio Ishiguro, Xin-Zhi Zheng, Yasuhiro Sugimoto, Dai Owaki
  • Organizer: SICE 2010 Annual Conference
  • Place of Presentation: Taipei, Taiwan
  • Year and Date: 2010-08-21
• [Presentation] Moritz Maus, Christophe Maufroy, Andre Seyfarth, Akio Ishiguro, Passive Dynamic Running Biped with Upper Body (2010)
  • Author(s): Dai Owaki, Shota Kubo, Shin'ichi Yamaguchi, Atsushi Tero
  • Organizer: ロボティクス・メカトロニクス講演会2010(2A2-E24)
  • Place of Presentation: 旭川
  • Year and Date: 2010-06-16
• [Presentation] マルチリズミックオシレータを活用した多自由度運動パターンの自律的獲得 (2010)
  • Author(s): 大脇大,石田怜,塚辺有哉,手老篤史,伊藤賢太郎,加納剛史,石黒章夫
  • Organizer: ロボティクス・メカトロニクス講演会2010(2P1-F28)
  • Place of Presentation: 旭川
  • Year and Date: 2010-06-16
• [Presentation] 受動走行のポアンカレマップに内在する陰的制御則と整合する陽的制御則の設計 (2010)
  • Author(s): 山口伸一,久保翔達,大脇大,杉本靖博,大須賀公一,石黒章夫
  • Organizer: ロボティクス・メカトロニクス講演会2010(2A2-E19)
  • Place of Presentation: 旭川
  • Year and Date: 2010-06-16
• [Presentation] A Two-dimensional Passive Dynamic Running Biped with Knees (2010)
  • Author(s): Dai Owaki, Masatoshi Koyama, Shinichi Yamaguchi, Shota Kubo, Akio Ishiguro
  • Organizer: 2010 IEEE International Conference on Robotics and Automation (ICRA2010,pp.5237-5242)
  • Place of Presentation: Anchorage, Alaska, USA
  • Year and Date: 2010-05-08
• [Presentation] グローバルエントレインメントを生起させる脳・身体間連関様式の再考～四脚ロボットを用いたCPG 制御の基本論理の理解～ (2010)
  • Author(s): 手老篤史,長澤昴,秋山正和,加納剛史,大脇大,伊藤賢太郎,小林亮,石黒章夫
  • Organizer: 第22回自律分散システム・シンポジウ(pp.105-110)
  • Place of Presentation: 名古屋
  • Year and Date: 2010-01-30
• [Presentation] Implicit Control Law that Enables Stable Running (2009)
  • Author(s): Dai Owaki, Koichi Osuka, Akio Ishiguro
  • Organizer: The 3rd International Symposium on Mobiligence(pp.352-356)
  • Place of Presentation: Awaji, Kobe, Japan
  • Year and Date: 2009-11-21
• [Presentation] Understanding the Common Principle underlying Passive Dynamic Walking and Running (2009)
  • Author(s): Dai Owaki, Kochi Osuka, Akio Ishiguro
  • Organizer: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)(pp.3208-3213)
  • Place of Presentation: St. Louis, MO, USA
  • Year and Date: 2009-10-13