Robot Dynamics and Control
Verbs and Adverbs: Multidimensional Motion Interpolation
IEEE Computer Graphics and Applications
Energy-Minimized Gait for a Biped Robot
Autonome Mobile Systeme 1995, 11. Fachgespräch
A Parametric Optimization Approach to Walking Pattern Synthesis
International Journal of Robotics Research
Human-data based cost of bipedal robotic walking
Proceedings of the 14th international conference on Hybrid systems: computation and control
Minimum jerk-based control for a three dimensional bipedal robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Human like trajectory generation for a biped robot with a four-bar linkage for the knees
Robotics and Autonomous Systems
Quasi optimal sagittal gait of a biped robot with a new structure of knee joint
Robotics and Autonomous Systems
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Fast human walking includes a phase where the stance heel rises from the ground and the stance foot rotates about the stance toe. This phase where the biped becomes under-actuated is not present during the walk of humanoid robots. The objective of this study is to determine if this phase is useful to reduce the energy consumed in the walking. In order to study the efficiency of this phase, six cyclic gaits are presented for a planar biped robot. The simplest cyclic motion is composed of successive single support phases with flat stance foot on the ground. The most complex cyclic motion is composed of single support phases that include a sub-phase of rotation of the stance foot about the toe and of finite time double support phase. For the synthesis of these walking gaits, optimal motions with respect to the torque cost, are defined by taking into account given performances of actuators. It is shown that for fast motions a foot rotation sub-phase is useful to reduce the criteria cost. In the optimization process, under-actuated phase (foot rotation phase), fully-actuated phase (flat foot phase) and over-actuated phase (double support phase) are considered.