Fumihiko Asano

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This paper proposes novel energy-based gait generation and control methods for biped robots based on an analysis of passive dynamic walking. First, we discuss the essence of dynamic walking using a passive walker on a gentle slope from the mechanical energy point of view. Second, we propose a simple and effective gait-generation method, which imitates the(More)
Principal mechanisms of passive dynamic walking are studied from the mechanical energy point of view, and novel gait generation and control methods based on passive dynamic walking are proposed. First, a unified property of passive dynamic walking is derived, which shows that the walking system's mechanical energy increases proportionally with respect to(More)
In our previous works, we have proposed “virtual passive dynamic walking” with virtual gravity for biped robots in order to realize active walking on the level ground without any gait design in advance. In this paper we discuss some control problems of a kneed biped robot and propose “modified compass-like virtual passive dynamic walking” with active(More)
In our previous works, we have proposed “virtual passive dynamic walking” utilizing modified gravity condition with virtual gravity field. The virtual passive walking motion critically depends on the physical parameters and the steady walking pattern is not easily obtained without suitable physical parameters. Based on the observation, in this paper we(More)
This paper investigates the effect of semicircular feet on dynamic bipedal walking. It has been clarified by Asano and Luo (2006) that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. It has been also shown that, throughout parameter studies, the rolling effect(More)
It is already clarified throughout studies of passive dynamic walking mechanisms that the common nec essary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we consider a novel dynamic gait generation method based on(More)
Traditionally, an inverted pendulum has been used as a reduced biped locomotion system, whereas this paper proposes a different approach. The essence of dynamic biped gait generation is mechanical energy restoration, and parametric excitation approach is a good idea for it. Our novel approach does not require any rotational actuation and thus enables to be(More)