Derivation of optimal walking motions for a bipedal walking robot
- 9 March 1992
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 10 (2) , 165-172
- https://doi.org/10.1017/s026357470000758x
Abstract
SUMMARY: The problem of determining energy optimal walking motions for a bipedal walking robot is considered. A full dynamic model of a planar seven-link biped with feet is derived including the effects of impact of the feet with the ground. Motions of the hip and feet during a regular step are then modelled by 3rd order polynomials, the coefficients of which are obtained by numerically minimising an energy cost function. Results are given in the form of walking profiles and energy curves for the specific cases of motion over level ground, motion up and down an incline, and varying payload.Keywords
This publication has 2 references indexed in Scilit:
- Powered flight, child's play, silly wheels and walking machinesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Simulation and optimization of gait for a bipedal robotMathematical and Computer Modelling, 1990