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Advantages of Vertical Pelvic Movement in Bipedal Gaits for Increasing Stride Length and Reducing Actuator Power Requirements

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Abstract

This study investigates the effect of vertical movements of the pelvis on the joint of a biped robot. We evaluate experimentally two cases of walking on flat terrains and avoiding a toll bar obstacle. The experimental results show that the torque and velocity of the knee joint vary with the vertical movement of the pelvis. The knee joint velocity can be reduced when walking with the vertical movement compared to that when walking without the vertical movement of the pelvis. Based on the experimental results, the vertical movement of the pelvis can increase the stride lengths or relax the knee-actuator performance requirements. In addition, the trajectories of the center of mass (CoM) generated to avoid a toll bar obstacle using the preview control that includes the vertical motion of the CoM are compared to those using the preview control that neglects the vertical motion of the CoM. The results show that the trajectory generated by including the vertical motion of the CoM can reduce energy consumption and walk more stable.

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Funding

The present research has been conducted under the Research Grant of Kwangwoon University in 2020, and it has been supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government (MSIT) (2019R1A4A1029003).

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  1. School of Robotics, Kwangwoon University, Seoul, South Korea

    Jehwi Yoo, Kunhee Ryu, Juhoon Back & Ill-Woo Park

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  1. Jehwi Yoo
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  2. Kunhee Ryu
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  3. Juhoon Back
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  4. Ill-Woo Park
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Correspondence to Ill-Woo Park.

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Yoo, J., Ryu, K., Back, J. et al. Advantages of Vertical Pelvic Movement in Bipedal Gaits for Increasing Stride Length and Reducing Actuator Power Requirements. Int. J. Precis. Eng. Manuf. 23, 291–303 (2022). https://doi.org/10.1007/s12541-021-00541-x

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  • DOI: https://doi.org/10.1007/s12541-021-00541-x

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