- Title
- Natural oscillation and optimal gaits for humanoid biped models
- Creator
- Khan, Uzair Ijaz; Chen, Zhiyong
- Relation
- Humanoids 2018: IEEE-RAS International Conference on Humanoid Robots. 2018 IEEE-RAS 18th International Conference on Humanoid Robots: Proceedings (Beijing, China 06-09 November, 2018) p. 196-201
- Publisher Link
- http://dx.doi.org/10.1109/HUMANOIDS.2018.8625067
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2018
- Description
- Gait design for a biped robot is an intriguing problem. The objective is to replicate an efficient gait according to the jogging dynamics of a human in a biped robot. This paper aims to find an optimal gait for jogging dynamics of a biped robot on a continuous-time nonlinear mathematical model. The nonlinear model is approximated using the describing function method and requires the gait to be sinusoidal. It is revealed that the natural oscillation of an undamped biped robot is also an optimal gait. The optimal frequency reduces to compensate for damping. The characteristic of the optimal gait is further studied in extensive simulations.
- Subject
- mathematical model; legged locomotion; oscillators; torque; springs; knee
- Identifier
- http://hdl.handle.net/1959.13/1404452
- Identifier
- uon:35343
- Language
- eng
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