Efficient parametric excitation walking with delayed feedback control |
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Authors: | Yuji Harata Fumihiko Asano Kouichi Taji Yoji Uno |
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Institution: | 1.The Division of Mechanical Systems and Applied Mechanics, Faculty of Engineering,Hiroshima University,Hiroshima,Japan;2.The School of Information Science,Japan Advanced Institute of Science and Technology,Nomi,Japan;3.The Department of Mechanical Science and Engineering, Graduate School of Engineering,Nagoya University,Aichi,Japan |
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Abstract: | In passive dynamic walking proposed by McGeer, mechanical energy lost by heel strike is restored by transporting potential
energy to kinetic energy as walking down a slope. When energy input is larger as a slope is steeper, the bifurcation of a
walking cycle occurs. In the parametric excitation walking, which is to realize passive dynamic-like walking on the level
ground, the bifurcation of a walking cycle has also been observed when walking speed is fast. Recently, Asano et al. have
shown that bifurcation exerts an adverse influence upon walking performance by using a rimless wheel model. In this paper,
we apply the delayed feedback control (DFC), originally used in chaos control, to parametric excitation walking to suppress
bifurcation. We show in numerical simulation that the proposed method makes period-two walking to period-one walking, and
improves energy efficiency. In addition, the proposed method can generate a sustainable gait in the region where a biped robot
cannot walk without DFC. The analyses using a Poincaré map reveal that period-one walking with DFC corresponds to an unstable
periodic orbit and reveal that a robot model in this paper satisfies the sufficient condition of applicability of DFC. |
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