Investigation of optimal bipedal walking gaits subject to different energy‐based objective functions | Zendy

Römer Ulrich | Zendy; Fidlin Alexander | Zendy; Seemann Wolfgang | Zendy

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Investigation of optimal bipedal walking gaits subject to different energy‐based objective functions

Author(s) -

Römer Ulrich,

Fidlin Alexander,

Seemann Wolfgang

Publication year - 2015

Publication title -

pamm

Language(s) - English

Resource type - Journals

ISSN - 1617-7061

DOI - 10.1002/pamm.201510025

Subject(s) - revolute joint , control theory (sociology) , trajectory , controller (irrigation) , actuator , torque , robot , computer science , gait , control (management) , physics , artificial intelligence , physical medicine and rehabilitation , thermodynamics , medicine , astronomy , agronomy , biology

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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