Investigation of optimal bipedal walking gaits subject to different energy-based objective functions |
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Authors: | Ulrich Römer Alexander Fidlin Wolfgang Seemann |
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Institution: | Institute of Engineering Mechanics, Karlsruhe Institute of Technology, Kaiserstr. 10, 76131 Karlsruhe, Germany |
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Abstract: | Optimal bipedal walking gaits subject to different energy-based objective functions are investigated using a simple planar rigid body model of a bipedal robot with upper body, thighs and shanks. The robot's segments are connected by revolute joints actuated by electric motors. The actuators' torques are generated by a trajectory tracking controller to produce periodic walking gaits. A numerical optimization routine is used to find optimal reference trajectories for average speeds in the range of 0.3 – 2.3 m/s to investigate the influence of different objective functions. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim) |
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