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Optimized Walking of an 8-link 3D Bipedal Robot

Abstract : From an energy standpoint, walking robots are less efficient than humans. In facing this challenge, this study aims to provide an approach for controlling and optimizing the gaits of both 2D and 3D bipedal robots with consideration for exploiting natural dynamics and elastic couplings. A 5-link 2D biped with point feet and an 8-link 3D biped with massless line feet are studied. The control method is based on virtual constraints and feedback linearization. Following previous studies, the stability of the 2D biped is verified by computing scalar Poincaré map in closed form, and now this method also applies to the 3D biped because of its line-foot configuration. The optimization is performed using sequential quadratic programming. The optimization parameters include postural parameters and Bézier coefficients, and the optimization constraints are used to ensure gait validity. For the 2D biped, two different configurations of hip joint springs are investigated and both configurations successfully reduce the energy cost. For the 3D biped, the optimization parameters are further divided into sagittal parameters and coronal parameters, and the optimization results indicate that both these parameters should be optimized. After that, hip joint springs are added respectively to the sagittal plane, the coronal plane and both these planes. The results demonstrate that the elastic couplings in the sagittal plane should be considered first and that the additional couplings in the coronal plane reduce the energy cost even further.
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Submitted on : Friday, May 13, 2016 - 12:53:32 PM
Last modification on : Friday, August 5, 2022 - 2:54:00 PM
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Version validated by the jury (STAR)


  • HAL Id : tel-01315557, version 1


Zhongkai Chen. Optimized Walking of an 8-link 3D Bipedal Robot. Automatic. Ecole nationale supérieure d'arts et métiers - ENSAM, 2015. English. ⟨NNT : 2015ENAM0027⟩. ⟨tel-01315557⟩



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