DocumentCode
324062
Title
Generation of energy optimal complete gait cycles for biped robots
Author
Roussel, L. ; Canudas-de-Wit, C. ; Goswami, A.
Author_Institution
Lab. d´´Autom. de Grenoble, CNRS, St. Martin d´´Heres, France
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2036
Abstract
We address the problem of energy optimal gait generation for biped robots. Using a simplified robot dynamics that ignores the effects of centripetal forces, we obtain unconstrained optimal trajectories generated by piecewise constant inputs. The study a complete gait cycle comprising single support, double support and the transition phases. The energy optimal gaits for different step lengths and velocities are compared with natural human gait
Keywords
legged locomotion; optimal control; robot dynamics; biped robots; energy optimal complete gait cycles; piecewise constant inputs; unconstrained optimal trajectories; Control systems; Equations; Foot; Frequency; Ground support; Humans; Legged locomotion; Mobile robots; Path planning; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680615
Filename
680615
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