Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In this paper, we propose a method for stable gait generation of a 3-link biped robot with damaged motor on one-side. First, we derive the dynamics and control method. Control torque between the torso and one leg is applied while another is passive. Second, we numerically show the period-2 gait of this semi-passive dynamic walking. Finally, the gait properties are analyzed via parametric study. The results show that by adjusting the target control time for the actuated swing/stand leg separately and appropriately, potential barrier can be overcome successfully.
