Generating Gaits for Biped Robots based on the Dynamic Passivization of Joint Control and Central Pattern Generator

Abstract

A central pattern generator (CPG) and passive dynamic walking (PDW) have attracted much attention in the research field of bipedal locomotion. We describe a motion control method based on dynamic joint passivization for biped robot locomotion. CPG-based motion control is effective for walking on uneven terrain. However, it has serious problems with energy loss. In contrast, PDW saves energy because a robot can walk without any active control or energy input on a downhill slope. However, PDW robot can walk only on a downhill slope, is weak to changes in the environment. We think that active walking needs to be mixed with PDW for robot walking. Our motion control method is based on a mixture of the CPG and PDW, that is, the dynamic passivization of joint control. Experiments using our method successfully generated energy efficient walking and enabled superior gaits.