Simulation and optimization of gait for a bipedal robot

Channon, P H; Hopkins, S. H.; Pham, Duc Truong

doi:10.1016/0895-7177(90)90227-e

Cited by 10 publications

(8 citation statements)

References 1 publication

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“…Much work has been devoted to the anthropomorphic biped robot, like. [1][2][3][4][5][6][7][8][9][10][11][12][13][14] The design of reference trajectories for gait cycles of biped is important and not trivial. Several techniques have been adapted to define reference trajectories.…”

Section: Introductionmentioning

confidence: 99%

“…Several techniques have been adapted to define reference trajectories. Like many authors, 1,2,4,5,11,12,15 we focused our interest on low-energy trajectories for biped robots. We searched for a periodic trajectory that fulfils a certain objective, in terms of motion velocity, while minimising the input energy needed to produce such a gait.…”

Section: Introductionmentioning

confidence: 99%

“…However, it is necessary when the torque is an optimised variable, to solve the inverse dynamic problem to find the joint coordinates in order to insure cyclic gaits. Different authors 1,2,4,5 have used polynomial functions for the Cartesian coordinates of the hip, swing foot and the trunk angle. The coefficients of the polynomials are optimisation parameters.…”

Section: Introductionmentioning

confidence: 99%

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Optimal reference trajectories for walking and running of a biped robot

Chevallereau¹,

Aoustin²

2001

Robotica

244

206

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The objective of this study is to obtain optimal cyclic gaits for a biped robot without actuated ankles. Two types of motion are studied: walking and running. For walking, the gait is composed uniquely of successive single support phases and instantaneous double support phases that are modelled by passive impact equations. The legs swap their roles from one single support phase to the next one. For running, the gait is composed of stance phases and flight phases. A passive impact with the ground exists at the end of flight. During each phase the evolution of m joints variables is assumed to be polynomial functions, m is the number of actuators. The evolution of the other variables is deduced from the dynamic model of the biped. The coefficients of the polynomial functions are chosen to optimise criteria and to insure cyclic motion of the biped. The chosen criteria are: maximal advance velocity, minimal torque, and minimal energy. Furthermore, the optimal gait is defined with respect to given performances of actuators: The torques and velocities at the output of the gear box are bounded. For this study, the physical parameters of a prototype, which is under construction, are used. Optimal walking and running are defined. The running is more efficient for high velocities than the walking with respect to the studied criteria.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimal reference trajectories for walking and running of a biped robot

Chevallereau¹,

Aoustin²

2001

Robotica

244

206

View full text Add to dashboard Cite

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“…The generation of optimal gaits is thus an ongoing object of research [1]- [15]. The basis of optimal gait generation is numerical optimization which is performed either in offline simulations [6] or within real-time optimal control [15], [16]. Different objectives have been proposed as criterion for optimality [9], [10], many of which relate to energy efficiency.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous optimization of gait and design parameters for bipedal robots

Römer

Kuhs

Krause

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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A walking bipedal robot's energy efficiency depends on its gait as well as its design, whereas design changes affect the optimal gaits. We propose a method to take these interdependencies into account via simultaneous optimization of gait as well as design parameters. The method is applied to a planar robot with hybrid zero dynamics control and a torsion spring between its thighs. Periodic gaits are simulated by means of the hybrid zero dynamics. The implementation of the simultaneous optimization of gait parameters and spring stiffness via sequential quadratic programming is presented. Subsequently, an error analysis is performed to gain good convergence and short computation times of the optimization. The evaluation of gradients is identified as crucial for the algorithm's convergence and therefore performed via complex step derivative approximations. The resulting implementation exhibits good convergence behavior and is provided as supplement to this paper. At 2.3 m/s, the simultaneous optimization results in savings in energy expenditure of up to 55%. A consecutive optimization of first gait and then stiffness yields only 11%, demonstrating the advantage of the presented method.

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“…It is attractive to define a trajectory which minimizes the energy cost for some given velocity and distance. Some works have been devoted to the use of optimal control to define such a trajectory [2, 3,41. But these methods remain difficult, and, to our best knowledge, physical constraints are not taken into account.…”

Section: Introductionmentioning

confidence: 99%

Low energy cost reference trajectories for a biped robot

Chevallereau¹,

Formal’sky²,

Perrin³

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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On the one hand, impulsive torque at the beginning and end of the motion and ballistic motion between these two instants give energetically optimal motion for a pendulum. On the other hand many authors suppose that in human walk, muscle activities alternate with some periods of relaxation. From these two arguments, we assume that a motion defined by ballistic motion and impulsive control at double support instant will lead to an energetically economical trajectory.Optimal configurations are defined. Then smooth changes on the reference trajectory are proposed to obtain a trajectory which can be followed with finite torques. The physical constraints on the reaction forces to avoid take off or sliding of the robot, and saturation on the torques produced by the actuators are explicitly taken into account.

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Simulation and optimization of gait for a bipedal robot

Cited by 10 publications

References 1 publication

Optimal reference trajectories for walking and running of a biped robot

Optimal reference trajectories for walking and running of a biped robot

Simultaneous optimization of gait and design parameters for bipedal robots

Low energy cost reference trajectories for a biped robot

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