Optimal trajectory generation of compass-gait biped based on passive dynamic walking

Authors:
Minseung Kim;Taemin Kim;Hyun S. Yang
Affiliations:
Dept. of Computer Science, Illinois Institute of Technology, Chicago, IL;Dept. of Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea;Dept. of Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea
Venue:
AIAP'07 Proceedings of the 25th conference on Proceedings of the 25th IASTED International Multi-Conference: artificial intelligence and applications
Year:
2007

Citing 3
Cited 0

Passive dynamic walking

International Journal of Robotics Research
Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control
Limit Cycles in a Passive Compass GaitBiped and Passivity-Mimicking Control Laws

Autonomous Robots

Quantified Score

Hi-index	0.00

Visualization

Abstract

This work aims at finding optimal trajectory of compassgait biped walking robot in terms of energy consumption and passive dynamic walking. The planar biped model, an inverted double pendulum, has a free hinge at all joints, i.e., the hip and stance ankle. The impulsive external force is exerted on the swing ankle for short initial period. With the equation of motion, the power of external force is minimized to generate optimal trajectory. The finite element method, where the solution is parameterized by a piecewise second order polynomial, is applied for numerical implementation. The validity of the proposed trajectory is investigated through numerical simulations.