A Rule Based Biped Dynamic Walking

S M, Bhagath and R, Prasanth Kumar (2011) A Rule Based Biped Dynamic Walking. Masters thesis, Indian Institute of Technology.

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Abstract

Dynamic walking approach has got its significance because of its energy efficiency in walking. Walking models are made using this approach which would consume energy as low as the energy required for human being walking. The basis of this dynamic walking is purely passive walking which takes no energy for walking. For a simple compass model passive walking can be achieved only for particular initial conditions (angular positions and velocities) which are found by trial and error or from previous experience.Various ways are derived to make the model walk on a level ground by supplying external energy through some means i.e torques at hip joint and ankle joints which is called active walking. Two approaches are available for active walking, one is creating virtual slope and then by applying equivalent torques at ankle and hip as the functions of virtual slope;other approach is using torsional springs and dampers at hip as well as ankles such that the torques are given in terms of springs' stiffness coefficient and damping coefficient. The stability is analyzed based on ZMP position. When ZMP of the system falls within the foot support area then system is said to be stable.

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