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Energy-Efficient Bipedal Walking: From Single-Mass Model to Three-Mass Model

Published online by Cambridge University Press:  22 February 2021

Jiatao Ding
Affiliation:
School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei Province 430072, P.R. China E-mails: [email protected], [email protected], [email protected] Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, Guangdong Province 518000, P.R. China
Jiangchen Zhou
Affiliation:
School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei Province 430072, P.R. China E-mails: [email protected], [email protected], [email protected]
Zhao Guo
Affiliation:
School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei Province 430072, P.R. China E-mails: [email protected], [email protected], [email protected]
Xiaohui Xiao*
Affiliation:
School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei Province 430072, P.R. China E-mails: [email protected], [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]

Summary

The work aims to realize energy-efficient bipedal walking by employing the three-mass inverted pendulum model (3MIPM) and compare its energy performance with linear inverted pendulum model (LIPM). To do this, a general optimal index on center of mass (CoM) acceleration is first derived for energetic cost evaluation. After defining the equivalent zero moment point (ZMP) motion, an unconstrained optimization approach for CoM generation is extended for 3MIPM, which can track different ZMP references and address the height variation as well. To make use of the allowable ZMP movement, a constrained optimization method is also employed, contributing to lower energetic cost. Simulation and hardware experiments on a humanoid robot demonstrate that the 3MIPM could achieve higher energy efficiency.

Type
Article
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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