Design issues and applications for a passive-dynamic walker

Kalin Trifonov, Guillermo Enriquez, Shuji Hashimoto

    Research output: Contribution to journalArticle

    Abstract

    Humanoid and walking robots have been widely developed and their use in human environments is not far out of reach. The main problems in practical applications of machine walking are energy consumption, complex control and design, and high cost. The main feasible indoor application of a walking machine is that of a humanoid robot as a companion, nurse, guide, or information desk or reception clerk. In a smart object system environment, such as a smart house where all objects are interconnected, a humanoid robot can provide services for the centralized host or gateway server of the house. It is a mobile system already equipped with sensors, controllers, manipulators (hands) and a communication system. From the features of humanoid robots and of the smart object systems, a new direction of research could emerge embracing parts of both fields. In the interest of furthering the capabilities of walking robots, we designed an approach to further the capability of walking robots. We built a four-legged passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs. Both mechanisms were designed in an attempt to create a simpler and easier-to-adjust knee-locking mechanism. We conducted a series of experiments in which we counted the steps the walker made while walking down an incline and compared the results achieved with the two different knee-locking mechanisms. We also performed a walking cycle investigation of a person walking casually down the same slope used for the walker experiments, calculated the average time intervals within one cycle and made a comparison between the test subject and our walker.

    Original languageEnglish
    Pages (from-to)57-72
    Number of pages16
    JournalInternational Journal of Multimedia and Ubiquitous Engineering
    Volume4
    Issue number3
    Publication statusPublished - 2009

    Fingerprint

    Robots
    Intelligent buildings
    Gateways (computer networks)
    Experiments
    Manipulators
    Communication systems
    Servers
    Energy utilization
    Controllers
    Sensors
    Costs

    Keywords

    • Knee design
    • Passive-dynamic walker
    • Walking machines

    ASJC Scopus subject areas

    • Computer Science(all)

    Cite this

    Design issues and applications for a passive-dynamic walker. / Trifonov, Kalin; Enriquez, Guillermo; Hashimoto, Shuji.

    In: International Journal of Multimedia and Ubiquitous Engineering, Vol. 4, No. 3, 2009, p. 57-72.

    Research output: Contribution to journalArticle

    Trifonov, Kalin ; Enriquez, Guillermo ; Hashimoto, Shuji. / Design issues and applications for a passive-dynamic walker. In: International Journal of Multimedia and Ubiquitous Engineering. 2009 ; Vol. 4, No. 3. pp. 57-72.
    @article{0606626cc8844e8ea129bcd9009a01c6,
    title = "Design issues and applications for a passive-dynamic walker",
    abstract = "Humanoid and walking robots have been widely developed and their use in human environments is not far out of reach. The main problems in practical applications of machine walking are energy consumption, complex control and design, and high cost. The main feasible indoor application of a walking machine is that of a humanoid robot as a companion, nurse, guide, or information desk or reception clerk. In a smart object system environment, such as a smart house where all objects are interconnected, a humanoid robot can provide services for the centralized host or gateway server of the house. It is a mobile system already equipped with sensors, controllers, manipulators (hands) and a communication system. From the features of humanoid robots and of the smart object systems, a new direction of research could emerge embracing parts of both fields. In the interest of furthering the capabilities of walking robots, we designed an approach to further the capability of walking robots. We built a four-legged passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs. Both mechanisms were designed in an attempt to create a simpler and easier-to-adjust knee-locking mechanism. We conducted a series of experiments in which we counted the steps the walker made while walking down an incline and compared the results achieved with the two different knee-locking mechanisms. We also performed a walking cycle investigation of a person walking casually down the same slope used for the walker experiments, calculated the average time intervals within one cycle and made a comparison between the test subject and our walker.",
    keywords = "Knee design, Passive-dynamic walker, Walking machines",
    author = "Kalin Trifonov and Guillermo Enriquez and Shuji Hashimoto",
    year = "2009",
    language = "English",
    volume = "4",
    pages = "57--72",
    journal = "International Journal of Multimedia and Ubiquitous Engineering",
    issn = "1975-0080",
    publisher = "Science and Engineering Research Support Society",
    number = "3",

    }

    TY - JOUR

    T1 - Design issues and applications for a passive-dynamic walker

    AU - Trifonov, Kalin

    AU - Enriquez, Guillermo

    AU - Hashimoto, Shuji

    PY - 2009

    Y1 - 2009

    N2 - Humanoid and walking robots have been widely developed and their use in human environments is not far out of reach. The main problems in practical applications of machine walking are energy consumption, complex control and design, and high cost. The main feasible indoor application of a walking machine is that of a humanoid robot as a companion, nurse, guide, or information desk or reception clerk. In a smart object system environment, such as a smart house where all objects are interconnected, a humanoid robot can provide services for the centralized host or gateway server of the house. It is a mobile system already equipped with sensors, controllers, manipulators (hands) and a communication system. From the features of humanoid robots and of the smart object systems, a new direction of research could emerge embracing parts of both fields. In the interest of furthering the capabilities of walking robots, we designed an approach to further the capability of walking robots. We built a four-legged passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs. Both mechanisms were designed in an attempt to create a simpler and easier-to-adjust knee-locking mechanism. We conducted a series of experiments in which we counted the steps the walker made while walking down an incline and compared the results achieved with the two different knee-locking mechanisms. We also performed a walking cycle investigation of a person walking casually down the same slope used for the walker experiments, calculated the average time intervals within one cycle and made a comparison between the test subject and our walker.

    AB - Humanoid and walking robots have been widely developed and their use in human environments is not far out of reach. The main problems in practical applications of machine walking are energy consumption, complex control and design, and high cost. The main feasible indoor application of a walking machine is that of a humanoid robot as a companion, nurse, guide, or information desk or reception clerk. In a smart object system environment, such as a smart house where all objects are interconnected, a humanoid robot can provide services for the centralized host or gateway server of the house. It is a mobile system already equipped with sensors, controllers, manipulators (hands) and a communication system. From the features of humanoid robots and of the smart object systems, a new direction of research could emerge embracing parts of both fields. In the interest of furthering the capabilities of walking robots, we designed an approach to further the capability of walking robots. We built a four-legged passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs. Both mechanisms were designed in an attempt to create a simpler and easier-to-adjust knee-locking mechanism. We conducted a series of experiments in which we counted the steps the walker made while walking down an incline and compared the results achieved with the two different knee-locking mechanisms. We also performed a walking cycle investigation of a person walking casually down the same slope used for the walker experiments, calculated the average time intervals within one cycle and made a comparison between the test subject and our walker.

    KW - Knee design

    KW - Passive-dynamic walker

    KW - Walking machines

    UR - http://www.scopus.com/inward/record.url?scp=84856736983&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84856736983&partnerID=8YFLogxK

    M3 - Article

    AN - SCOPUS:84856736983

    VL - 4

    SP - 57

    EP - 72

    JO - International Journal of Multimedia and Ubiquitous Engineering

    JF - International Journal of Multimedia and Ubiquitous Engineering

    SN - 1975-0080

    IS - 3

    ER -