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Using optimization to create self-stable human-like running

Published online by Cambridge University Press:  01 May 2009

Katja Mombaur
Katja Mombaur*
Affiliation:
Interdisciplinary Center for Scientific Computing (IWR), University of Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg, Germany. E-mail: kmombaur@uni-hd.de
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Summary

This paper demonstrates how numerical optimization techniques can efficiently be used to create self-stable running motions for a human-like robot model. Exploitation of self-stability is considered to be a crucial factor for biological running and might be the key for success to make bipedal and humanoid robots run in the future. We investigate a two-dimensional simulation model of running with nine bodies (trunk, thighs, shanks, feet, and arms) powered by external moments at all internal joints. Using efficient optimal control techniques and stability optimization, we were able to determine model parameters and actuator inputs that lead to fully open-loop stable running motions.

Keywords

BipedsControl of robotic systemsDesignRobot dynamicsBiomimetic robots
Type
Article
Information
Robotica , Volume 27 , Issue 3 , May 2009 , pp. 321 - 330
Copyright
Copyright © Cambridge University Press 2008

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