Optimal trajectory generation of compass-gait biped based on passive dynamic walking

This work aims at finding optimal trajectory of compass-gait biped walking robot in terms of energy consumption and passive dynamic walking. The planar biped model, an inverted double pendulum, has a free hinge at all joints, i.e., the hip and stance ankle. The impulsive external force is exerted on the swing ankle for short initial period. With the equation of motion, the power of external force is minimized to generate optimal trajectory. The finite element method, where the solution is parameterized by a piecewise second order polynomial, is applied for numerical implementation. The validity of the proposed trajectory is investigated through numerical simulations.