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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)