1. Home
  2. Honda R&D Technical Review Vol.20 N...
  3. Running Gait Generation for Biped R...

Technical Review e-Book: Summary

Running Gait Generation for Biped Robot

Article of Honda R&D Technical Review Vol.20 No.2

Summary

An attempt to increase the running speed of a biped robot often results in a loss of balance due to slip and spin generated just before lifting or after landing its foot. In order to solve this issue, we developed the gait generation technology that assures dynamic stability while suppressing slip and spin by defining the allowable range of friction force between a sole and a floor. The range of the friction force changes according to the vertical ground reaction force, and is used to adjust the horizontal acceleration, bend, and twist of the robot’s torso. By adjusting the range of the friction force, a uniform approach can be taken to generate various gaits such as walking on a floor with low friction coefficient, or slow jogging. Slow jogging is an intermediate motion between walking and running in which the vertical ground reaction force does not quite reach zero. The gait generation technology realizes a running speed of 10 km/h in an experimental robot of the same size as ASIMO.

Reference

(1) Hirai, K., Hirose, M., Haikawa, Y., Takenaka, T.: The Development of Honda Humanoid Robot, Proceedings of the 1998 IEEE International Conference on Robotics and Automation, p. 1321-1326 (1998)
(2) Hirose, M., Takenaka, T.: Development of the Humanoid Robot ASIMO, Honda R&D Technical Review, Vol. 13, No. 1, p. 1-6
(3) Shigemi, S., Kawaguchi, Y., Yoshiike, T., Kawabe, K., Ogawa, N.: Development of New ASIMO, Honda R&D Technical Review, Vol. 18, No. 1, p. 38-44
(4) Vukobratovi´c, M., Stepanenko, Y.: On the Stability of Anthropomorphic Systems, Mathematical Biosciences, Vol. 15, p. 1-37 (1972)
(5) Reibert, M.: Legged Robots That Balance, The MIT Press, 233 p. (1986)

Author (organization or company)

Toru TAKENAKA(Fundamental Technology Research Center)、Takashi MATSUMOTO(Fundamental Technology Research Center)、Takahide YOSHIIKE(Fundamental Technology Research Center)、Shinya SHIROKURA(Fundamental Technology Research Center)

We would like to get your opinion on this research paper. (This is only applicable to registered members.)

The readers of this research paper have also selected these research papers.

Development of the Humanoid Robot ASIMO
Article of Honda R&D Technical Review Vol.13 No.1
Development of New ASIMO – Realization of Autonomous Machine –
Article of Honda R&D Technical Review Vol.24 No.1
Development of New ASIMO
Article of Honda R&D Technical Review Vol.18 No.1