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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| Vydáno v: | Proceedings in applied mathematics and mechanics Ročník 15; číslo 1; s. 69 - 70 |
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| Hlavní autoři: | , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Berlin
WILEY-VCH Verlag
01.10.2015
WILEY‐VCH Verlag |
| ISSN: | 1617-7061, 1617-7061 |
| On-line přístup: | Získat plný text |
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| Shrnutí: | 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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| Bibliografie: | istex:51CE5B18FA26C85D2F8C325B6A6A18B5B601854F ArticleID:PAMM201510025 ark:/67375/WNG-4P06804P-S |
| ISSN: | 1617-7061 1617-7061 |
| DOI: | 10.1002/pamm.201510025 |