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

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...

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Published inProceedings in applied mathematics and mechanics Vol. 15; no. 1; pp. 69 - 70
Main Authors Römer, Ulrich, Fidlin, Alexander, Seemann, Wolfgang
Format Journal Article
LanguageEnglish
Published Berlin WILEY-VCH Verlag 01.10.2015
WILEY‐VCH Verlag
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ISSN1617-7061
1617-7061
DOI10.1002/pamm.201510025

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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)
AbstractList 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)
Author Seemann, Wolfgang
Römer, Ulrich
Fidlin, Alexander
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