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Derivation of optimal walking motions for a bipedal walking robot

Published online by Cambridge University Press:  09 March 2009

P. H. Channon ,
S. H. Hopkins  and
D. T. Pham
P. H. Channon
Affiliation:
Intelligent Systems Research Group, School of Electrical, Electronic and Systems Engineering, University of Wales College of Cardiff, P.O. Box 904, Cardiff, Wales, CF1 3YH. (UK)
S. H. Hopkins
Affiliation:
Intelligent Systems Research Group, School of Electrical, Electronic and Systems Engineering, University of Wales College of Cardiff, P.O. Box 904, Cardiff, Wales, CF1 3YH. (UK)
D. T. Pham
Affiliation:
Intelligent Systems Research Group, School of Electrical, Electronic and Systems Engineering, University of Wales College of Cardiff, P.O. Box 904, Cardiff, Wales, CF1 3YH. (UK)
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Summary

The problem of determining energy optimal walking motions for a bipedal walking robot is considered. A full dynamic model of a planar seven-link biped with feet is derived including the effects of impact of the feet with the ground. Motions of the hip and feet during a regular step are then modelled by 3rd order polynomials, the coefficients of which are obtained by numerically minimising an energy cost function. Results are given in the form of walking profiles and energy curves for the specific cases of motion over level ground, motion up and down an incline, and varying payload.

Keywords

Bipedal robotGait optimisationOptimal motionDynamic model
Type
Article
Information
Robotica , Volume 10 , Issue 2 , March 1992 , pp. 165 - 172
Copyright
Copyright © Cambridge University Press 1992

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References

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