Abstract
In a general definition of robot components given by Wolfram Stadler, communications and power supply are included showing the close relation between robots and walking machines. Both of them are based on mechatronics allowing variable programmable operations.
Biped walking represents a complex motion of sophisticated systems in nature as well as in engineering. A young human requires more than 1 year to learn walking while old humans need additional devices for save walking. While passive machines walk only on inclined planes, active machines may walk in all kinds of terrains. However, the active devices known from literature consume so much energy that their operation time is very restricted.
In this paper the modeling of walking systems using the method of multibody dynamics is presented including the contact and impact problem inherent to biped walking. The limit cycle of passive motions is investigated as well as the related stability using shooting approaches with optimization techniques. The active machines proposed are controlled using the principles of inverse dynamics and advanced linear control strategies. In particular, the energy consumption between passive and active walking machines is compared by a coefficient of efficiency. At the time being human walking is still the most efficient and it is considered as a benchmark for the mechatronic design of walking machines.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Stadler, W., Analytical Robotics and Mechatronics, McGraw-Hill, New York, 1995.
Honda Motor Co., Ltd, ‘Honda humanoid robot—specifications’, URL: http://world.honda.com/robot/specifications/, 2002.
McGeer, T., ‘Passive dynamic walking’, The International Journal of Robotics Research 9(2), 1990, 62–82.
Garcia, M., Ruina, A. and Coleman, M., ‘Some results in passive-dynamic walking’, in Proceedings of the Euromech 375: Biology and Technology of Walking, Munich, Germany, 23–25 March 1998, Pfeiffer (ed.), Technical University of Munich, 1998, pp. 268–275.
Schiehlen, W. (ed.), Multibody Systems Handbook, Springer-Verlag, Berlin, 1990.
Schiehlen, W., ‘Multibody system dynamics: Roots and perspectives’, Multibody System Dynamics 1, 1997, 149–188.
Vukobratović, M., Borovac, B., Surla, D. and Stokić, D., Biped Locomotion: Dynamics, Stability, Control and Application, Vol. 7 of Scientific Fundamentals of Robotics, Springer-Verlag, Berlin, 1990.
Pfister, J. and Eberhard, P., ‘Frictional contact of flexible and rigid bodies’, Granular Matter 4(1), 2002, 25–36.
Gao, J., Ein Beitrag zur stossfreien Gehbewegung, No. 114 in Fortschritt-Berichte VDI, Reihe 18, VDI Verlag, Düsseldorf, 1992.
Raibert, M.H., Legged Robots That Balance, The MIT Pres, Cambridge, MA, 1986.
Ahmadi, M. and Buehler, M., ‘The ARL Monopod II running robot: Control and energetics,’ in International Conference on Robotics and Automation, ICRA, Detroit, Michigan, 10–15.5.1999, IEEE, Piscataway, 1999, pp. 1689–1694.
Mochon, S. and McMahon, T.A., ‘Ballistic walking: An improved model’, Mathematical Biosciences 52, 1980, 241–260.
Goswami, A., Espiau, B. and Keramane, A., ‘Limit cycles and their stability in a passive bipedal gait’, in IEEE Conference on Robotics and Automation, 1996.
Volle, A., Modellierung, Simulation und Animation eines strukturvariablen Systems, Student Project STUD-133, Institute B of Mechanics, University of Stuttgart, 1996.
Gruber, S. and Schiehlen, W., ‘Low-energy biped locomotion’, in ROMANSY 13—Theory and Practice of Robots and Manipulators, Proceedings of the Thirteenth CISM-IFToMM Symposium, Zakopane, Polen, 3–6.7.2000, Springer-Verlag, Wien, 2000, pp. 459–466.
Gruber, S. and Schiehlen, W., ‘Towards autonomous bipedal walking’, in 4th International Conference on Climbing and Walking Robots, From Biology to Industrial Applications, CLAWAR 2001, K. Berns and R. Dillmann (eds.), Karlsruhe, 24–26.09.2001, Bury St. Edmunds and London, UK, 2001, pp. 757–762.
Schwefel, H.-P., Evolution and Optimum Seeking, John Wiley & Sons, 1995.
Schittkowski, K., ‘NLPQL: A FORTRAN subroutine solving constrained nonlinear programming problems,’ Annals of Operations Research 5, 1985/1986, 485–500, J.C. Baltzer A.G., Scientific Publishing Company.
Pratt, J., ‘Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots’, Ph.D. Thesis, Computer Science Department, Massachusetts Institute of Technology, Cambridge, MA, 2000.
Alexander, R.M., Elastic Mechanisms in Animal Movement, Cambridge University Press, UK, 1988.
Lorenz, S., Zur Regelung einer zweibeinigen Gehmaschine, Student Project STUD-200, Institute B of Mechanics, University of Stuttgart, 2001.
Sciavicco, L. and Siciliano, B., Modelling and Control of Robot Manipulators, Springer, London, 2000.
Blajer, W. and Schiehlen, W., ‘Walking without impacts as a motion/force control problem, ASME Journal of Dynamic Systems, Measurement, and Control 114, 1992, 660–665.
Spong, M.W. and Vidyasagar, M., Robot Dynamics and Control, John Wiley & Sons, New York, 1989.
Guse, N. and Schiehlen, W., ‘Efficient inverse dynamics control of multibody systems’, in Proceedings of 6th International Conference on Motion and Vibration Control (MOVIC), Vol. 1, Y. S. Takeshi Mizuno (ed.), Tokyo, 2002, pp. 502–507.
Gabrielli, G. and von Kármán, T.H., ‘What price speed?’, Mechanical Engineering 72(10), 1950, 755–781.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Schiehlen, W. Energy-Optimal Design of Walking Machines. Multibody Syst Dyn 13, 129–141 (2005). https://doi.org/10.1007/s11044-005-4068-4
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/s11044-005-4068-4