A ZMP Controlling Mechanism by Using a Spring Mass System and Its Application to a Powered Passive Walking Robot(Mechanical Systems)

  • GOTO Atsushi
    Graduate School of Science and Engineering, Yamagata University
  • KIDA Tomoaki
    Graduate School of Science and Engineering, Yamagata University
  • MITOBE Kazuhisa
    Graduate School of Science and Engineering, Yamagata University

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Other Title
  • バネ-質点系によるZMP制御およびその準受動歩行ロボットへの応用(機械力学,計測,自動制御)
  • バネ-質点系によるZMP制御およびその準受動歩行ロボットへの応用
  • バネ シツテンケイ ニ ヨル ZMP セイギョ オヨビ ソノ ジュンジュドウ ホコウ ロボット エ ノ オウヨウ

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On the purpose of achieving a human-like high energy efficient walking robot, many research projects use actuators attached on the waist or ankle joints of passive dynamic walking mechanisms. While on the other hand, we developed another type of semi-passive walking robot that is driven by the harmonic oscillation of a spring-mass system. In the mechanism, spring forces are generated at both sides of the robot by the simple harmonic motion of a spring-mass system which is oscillated by a small sized servo motor. The spring forces control the ZMP (Zero Moment Point) in the lateral direction, in sync with the swing leg, which is generated by the same forces as well. Choosing the gait cycle at the resonance frequency, significant decrease of the motor power and energy consumption is possible. Gyros, micro switches and wire displacement sensors are attached to the robot for measuring the angle of the legs, foot contact and spring extension. Gait cycle, spring forces, ZMP in the lateral direction are analyzed based on the measurements.



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