Generation of energy optimal complete gait cycles for biped robots

被引：0
|
作者：
Roussel, L [1 ]
Canudas-de-Wit, C [1 ]
Goswami, A [1 ]
机构：
[1] Ecole Natl Super Electrochim & Electrome Grenoble, Inst Natl Polytech Grenoble, UMR CNRS 5528, F-38402 St Martin Dheres, France
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we address the problem of energy optimal gait generation for biped robots. Using a simplified robot dynamics that ignores the effects of centripetal forces, we obtain unconstrained optimal trajectories generated by piecewise constant inputs. We study a complete gait cycle comprising single support, double support and the transition phases. The energy optimal gaits for different step lengths and velocities are compared with natural human gait.
引用
收藏
页码：2036 / 2041
页数：2
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