A Variational Approach To The Optimization of Gait For a Bipedal Robot
- 1 March 1996
- journal article
- review article
- Published by SAGE Publications in Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
- Vol. 210 (2), 177-186
- https://doi.org/10.1243/pime_proc_1996_210_184_02
Abstract
This paper presents a method for optimizing the walking motions of a planar five-link biped. The technique starts with non-linear kinematic and dynamic models for both the single-support and impact stages of motion. A variational technique is then used to derive joint trajectories that minimize a simple cost function. The resulting two-point boundary value problem is solved using a finite difference technique, with trajectories obtained from a simple linearized model as initial conditions. Families of optimal trajectories for different step periods and step lengths are presented.Keywords
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