DocumentCode
3109998
Title
Trajectory generation of biped running robot with minimum energy consumption
Author
Fujimoto, Yasutaka
Author_Institution
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
3803
Abstract
The exact and general formulation of optimal control for biped robots based on a numerical representation of the motion equation is proposed. We can solve exactly the minimum energy consumption trajectories for a biped running motion. Through the numerical study of a five link planar biped robot, it is found that big peak power and torque is required for the knee joints but its consumption power is small and the main work is done by the hip joints.
Keywords
legged locomotion; motion control; optimal control; position control; power consumption; biped running motion; biped running robot; five link planar biped robot; gait analysis; hip joints; knee joints; minimum energy consumption; motion equation; numerical representation; optimal control; trajectory generation; Actuators; Energy consumption; Equations; Gears; Hip; Humanoid robots; Knee; Leg; Optimal control; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308861
Filename
1308861
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