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Generating efficient rigid biped running gaits with calculated take-off velocities

Published online by Cambridge University Press:  23 August 2010

Q. Guo ,
C. J. B. Macnab  and
J. K. Pieper
Q. Guo
Affiliation:
Schulich School of Engineering, University of Calgary, 2500 University Dr. NW, Calgary, AB, CanadaT2N 1N4
C. J. B. Macnab*
Affiliation:
Schulich School of Engineering, University of Calgary, 2500 University Dr. NW, Calgary, AB, CanadaT2N 1N4
J. K. Pieper
Affiliation:
Schulich School of Engineering, University of Calgary, 2500 University Dr. NW, Calgary, AB, CanadaT2N 1N4
*
*Corresponding author. E-mail: cmacnab@ucalgary.ca
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Summary

In this paper, an offline algorithm generates gaits for robotic biped running motion. A minimization procedure on a novel objective function produces initial joint velocities for the flight phase given the initial joint angles. These computed initial velocities ensure a reasonable starting point for the constrained dynamic optimization procedure to try and formulate a gait that minimizes energy consumption. The simulated robot runs even on ground and up stairs. Results demonstrate the rigid robot solution has a intuitively satisfying human-like motion with an energy consumption that appears reasonable for a rigid robot.

Keywords

Running robotsBiped runningBiped robotsMultibody dynamicsDynamic optimization
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 627 - 640
Copyright
Copyright © Cambridge University Press 2010

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