Optimal Energy-Effective Gait for Biped Robot

Abstract:

Although peoples legs are capable of a broad range of muscle-use and gait patterns, they generally prefer just two, walking and running. A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed. An energy-effective gait is designed by using piecewise torque method. Then, the robot model can exhibit a natural and reasonable walk on a level ground. The results can prove that the proposed optimal energy-effective gait is suitable for this kneed biped walking robot. And we also discover some walking rules maybe true through the results of optimization.

• Periodical: Applied Mechanics and Materials (Volumes 347-350)
• Pages: 839-843
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.347-350.839
• Online since: August 2013
• Authors: Li Peng Yuan, Li Ming Yuan, Hong Ying Lu
• Keywords: Biped Robot, Energy-Effective, Optimization

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