Generating efficient rigid biped running gaits with calculated take-off velocities

Authors:
Q. Guo;C. j. b. Macnab;J. k. Pieper
Affiliations:
Schulich school of engineering, university of calgary, 2500 university dr. nw, calgary, ab, canadat2n 1n4;Schulich school of engineering, university of calgary, 2500 university dr. nw, calgary, ab, canadat2n 1n4;Schulich school of engineering, university of calgary, 2500 university dr. nw, calgary, ab, canadat2n 1n4
Venue:
Robotica
Year:
2011

Citing 6
Cited 0

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Abstract

In this paper, an offline algorithm generates gaits for robotic biped running motion. A minimization procedure on a novel objective function produces initial joint velocities for the flight phase given the initial joint angles. These computed initial velocities ensure a reasonable starting point for the constrained dynamic optimization procedure to try and formulate a gait that minimizes energy consumption. The simulated robot runs even on ground and up stairs. Results demonstrate the rigid robot solution has a intuitively satisfying human-like motion with an energy consumption that appears reasonable for a rigid robot.