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Efficient walking with optimization for a planar biped walker with a torso by hip actuators and springs

Published online by Cambridge University Press:  27 August 2010

Terumasa Narukawa,
Masaki Takahashi and
Kazuo Yoshida
Terumasa Narukawa*
Affiliation:
Center for Education and Research of Symbiotic, Safe and Secure System Design, Keio University, 4-1-1 Hiyoshi, Kohoku-ku, Yokohama 223-8526, Japan
Masaki Takahashi
Affiliation:
Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
Kazuo Yoshida
Affiliation:
Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
*
*Corresponding author. E-mail: narukawa@2003.jukuin.keio.ac.jp
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Summary

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This paper focuses on the use of passive dynamics to achieve efficient walking with simple mechanisms. A torso is added to a biped walker; and hip actuators, instead of ankle actuators, are used. A numerical approach is used to find the optimal control trajectories. A comparison between the cost functions of simple feedback control and optimal control is presented. Next, springs are added to the biped walking model at the hip joints to demonstrate the advantage of hip springs in terms of energy cost and ground conditions. The comparison between the torque costs with and without hip springs indicates that hip springs reduce the torque cost, particularly at a high walking speed.

Keywords

Biped walkerLocomotionNumerical simulationOptimization

Information

Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011, pp. 641 - 648
Copyright
Copyright © Cambridge University Press 2010

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