Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso

Xinyu Liu; Xizhe Zang; Jie Zhao

doi:10.1109/ROBIO.2014.7090718

Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso

Xinyu Liu
, Xizhe Zang^*
, Jie Zhao

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model and a physical prototype with only one hip actuation were built to investigate how the control parameter can affect the walking characteristics. We studied the effects of control parameter on walking characteristics of a passive dynamic walker with torso by both numerical simulations and physical prototype experiments. The results showed that the control parameter k_p has marginal effect on walking speed but can affect the walking stability and energy consumption greatly.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2511-2516
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090718
State	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/ROBIO.2014.7090718

Cite this

Liu, X., Zang, X., & Zhao, J. (2014). Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 2511-2516). Article 7090718 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090718

Liu, Xinyu ; Zang, Xizhe ; Zhao, Jie. / Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2511-2516 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

@inproceedings{5b5e2a26b56f4d93ba8cb6ad03f08013,

title = "Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso",

abstract = "Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model and a physical prototype with only one hip actuation were built to investigate how the control parameter can affect the walking characteristics. We studied the effects of control parameter on walking characteristics of a passive dynamic walker with torso by both numerical simulations and physical prototype experiments. The results showed that the control parameter kp has marginal effect on walking speed but can affect the walking stability and energy consumption greatly.",

author = "Xinyu Liu and Xizhe Zang and Jie Zhao",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

month = apr,

day = "20",

doi = "10.1109/ROBIO.2014.7090718",

language = "英语",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2511--2516",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

address = "美国",

}

Liu, X, Zang, X & Zhao, J 2014, Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090718, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 2511-2516, 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090718

Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso. / Liu, Xinyu; Zang, Xizhe ; Zhao, Jie.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2511-2516 7090718 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso

AU - Liu, Xinyu

AU - Zang, Xizhe

AU - Zhao, Jie

PY - 2014/4/20

Y1 - 2014/4/20

N2 - Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model and a physical prototype with only one hip actuation were built to investigate how the control parameter can affect the walking characteristics. We studied the effects of control parameter on walking characteristics of a passive dynamic walker with torso by both numerical simulations and physical prototype experiments. The results showed that the control parameter kp has marginal effect on walking speed but can affect the walking stability and energy consumption greatly.

AB - Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model and a physical prototype with only one hip actuation were built to investigate how the control parameter can affect the walking characteristics. We studied the effects of control parameter on walking characteristics of a passive dynamic walker with torso by both numerical simulations and physical prototype experiments. The results showed that the control parameter kp has marginal effect on walking speed but can affect the walking stability and energy consumption greatly.

UR - https://www.scopus.com/pages/publications/84949929399

U2 - 10.1109/ROBIO.2014.7090718

DO - 10.1109/ROBIO.2014.7090718

M3 - 会议稿件

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T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

SP - 2511

EP - 2516

BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014

Y2 - 5 December 2014 through 10 December 2014

ER -

Liu X, Zang X , Zhao J. Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2511-2516. 7090718. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090718

Effects of PD control parameter on walking characteristics of a passive dynamic walker with torso

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