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biped running

Robotica (1)

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Generating efficient rigid biped running gaits with calculated take-off velocities
Q. Guo, C. J. B. Macnab, J. K. Pieper
Journal:

Robotica / Volume 29 / Issue 4 / July 2011

Published online by Cambridge University Press:

23 August 2010, pp. 627-640
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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.