Gait Synthesis in Legged Robot Locomotion Using a CPG-Based Model

Abstract

Recently many walking robots are developed, and almost all the researches adopt the model-based control. However the researches also adopt other ideas based on the dynamics-based control to decrease their energy consumption, to absorb the impact shock of contacting, to control the joint stiffness ...etc. So it seems important and valuable for the conventional walking robot control to import the ideas based on the dynamics. On the other hand, we focus the passive dynamic walking robot which walks only by the dynamics. If the principle of the robot system is analyzed and elucidated, we can apply the essence of the system to the conventional walking robot control, and also contribute the performance gain. In this paper we propose a designing method of the passive dynamic walking robot via analogy between the Phase Locked Loop circuit and the passive walking robot system. By the proposed method, we can describe how to fix the set-up parameters and initial conditions of the passive dynamic walking robot system. ©2006 IEEE.