Exploring Toe Walking in a Bipedal Robot
The design and development of locomotory subsystems such as legs is a key issue in the broader topic of autonomous mobile systems. Simplification of substructures, sensing, actuation and control can aid to better understand the dynamics of legged locomotion and will make the implementation of legs in engineered systems more effective. This paper examines recent results in the development of toe walking on the JenaWalker II robot. The robot is shown, while supported on a treadmill, to be capable of accelerating from 0 to over 0.6 m/s without adjustment of control parameters such as hip actuator sweep frequency or amplitude. The resulting stable motion is due to the adaptability of the passive structures incorporated into the legs. The roles of the individual muscletendon groups are examined and a potential configuration for future heel-toe trials is suggested.
Unable to display preview. Download preview PDF.
- 1.N. Neville, M. Buehler, and I. Sharf. A bipedal running robot with one actuator per leg. In IEEE Int. Conf. Robotics and Automation, Orlando, USA, May 2006.Google Scholar
- 2.F. Iida, Y. Minekawa, J. Rummel, and A. Seyfarth. Intelligent Autonomous Systems, chapter Toward a Human-Like Biped Robot with Compliant Legs, pages 820–827. Number 9. IOS Press, 2006.Google Scholar
- 3.R. McNeill Alexander. Three uses for springs in legged locomotion. International Journal of Robotics Research, 9(2), 1990.Google Scholar
- 4.T. A. McMahon. Muscles, reflexes, and locomotion. Princeton University Press, Princeton, N.J., USA, 1984.Google Scholar
- 5.M. Raibert. Legged Robots That Balance. The MIT Press, Cambridge, USA, 1986.Google Scholar
- 6.T. McGeer. Passive bipedal running. Technical report, Simon Fraser University, Centre For Systems Science, Burnaby, B.C., Canada, 1989.Google Scholar
- 10.J. Perry, J. M. Burnfield, J. K. Gronley, and Mulroy S. J. Toe walking: muscular demands at the ankle and knee. Arch Phys Med Rehabil, 84(1): 7–16, Jan. 2003.Google Scholar
- 11.E. P. Schwentker. Toe walking. Online publication, eMedicine.com, July2004.
- 13.C. Jaeger. Einfluss der Fusshaltung und Laufgeschwindigkeit auf die Biomechanik des Gehens. Diploma thesis, FSU-Jena, Jena, Germany, October 2006.Google Scholar
- 14.C. T. Farley. Determinants of the center of mass trajectory in human walking and running. The Journal of Experimental Biology, 201: 2935–2944, 1998.Google Scholar