Generation of Energy Optimal Complete Gait Cycles for Biped Robots

In this paper we address the problem of energyoptimal gait generation for biped robots. Using a simpli ed robot dynamics that ignores the e ects of centripetal forces, we obtain unconstrained optimal trajectories generated by piecewise constant inputs. We study a complete gait cycle comprising single support, double support and the transition phases. The energy optimal gaits for di erent step lengths and velocities are compared with natural human gait.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: L. Roussel, Carlos Canudas de Wit, Ambarish Goswami
• Keywords: Complete Gait Cycle, Energyoptimal Gait Generation, ICRA 1998, Robotics, Unconstrained Optimal Trajectories