Computer Science > Robotics
[Submitted on 26 Mar 2023 (v1), last revised 13 Feb 2024 (this version, v2)]
Title:An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits
View PDFAbstract:For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing continuous families of locally optimal gaits with respect to a class of commonly used energetic cost functions (e.g., the integral of torque-squared). We compute these families using only the passive gaits of the biped, which are globally optimal gaits with respect to these cost functions. Our approach fills in an important gap in the literature when computing a library of locally optimal gaits, which often do not make use of these globally optimal solutions as seed values. We demonstrate our approach on a well-studied two-link biped model.
Submission history
From: Nelson Rosa Jr. [view email][v1] Sun, 26 Mar 2023 15:07:22 UTC (451 KB)
[v2] Tue, 13 Feb 2024 22:13:00 UTC (1,129 KB)
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