Add to ORKGIn this paper we address the problem of energyoptimal gait generation for biped robots. Using a simplified robot dynamics that ignores the effects 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 different step lengths and velocities are compared with natural human gait
The mathematical statement of the problem of energy-optimal control for a bipedal locomotion system ...
Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In...
This paper investigates the efficiency of a 2-period gait from the kinetic energy view-point. First,...
In this paper we address the problem of energyoptimal gait generation for biped robots. Using a simp...
[[abstract]]Traditional planning of biped robot walking patterns solves optimal trajectory for minim...
Optimal bipedal walking gaits subject to different energy-based objective functions are investigated...
The exact and general formulation of optimal control for biped robots based on numerical representat...
This work explores regulation of forward speed, step length, and slope walking for the passive-dynam...
We clarified that the common necessary condition for generating a dynamic gait results from the requ...
We investigated and identified the conditions necessary for stable dynamic gait generation in biped ...
Over the last decennia there has been a wide interest in walking robots. They are potentially more c...
International audienceThe objective of this study is to obtain optimal cyclic gaits for a biped robo...
Abstract—Principal mechanisms of passive dynamic walking are studied from the mechanical energy poin...
As the demand for mobile robots that work alongside humans increases, the amount of energy that thes...
Energy consumption for bipedal walking plays a central role for a humanoid robot with limited batter...
The mathematical statement of the problem of energy-optimal control for a bipedal locomotion system ...
Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In...
This paper investigates the efficiency of a 2-period gait from the kinetic energy view-point. First,...
In this paper we address the problem of energyoptimal gait generation for biped robots. Using a simp...
[[abstract]]Traditional planning of biped robot walking patterns solves optimal trajectory for minim...
Optimal bipedal walking gaits subject to different energy-based objective functions are investigated...
The exact and general formulation of optimal control for biped robots based on numerical representat...
This work explores regulation of forward speed, step length, and slope walking for the passive-dynam...
We clarified that the common necessary condition for generating a dynamic gait results from the requ...
We investigated and identified the conditions necessary for stable dynamic gait generation in biped ...
Over the last decennia there has been a wide interest in walking robots. They are potentially more c...
International audienceThe objective of this study is to obtain optimal cyclic gaits for a biped robo...
Abstract—Principal mechanisms of passive dynamic walking are studied from the mechanical energy poin...
As the demand for mobile robots that work alongside humans increases, the amount of energy that thes...
Energy consumption for bipedal walking plays a central role for a humanoid robot with limited batter...
The mathematical statement of the problem of energy-optimal control for a bipedal locomotion system ...
Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In...
This paper investigates the efficiency of a 2-period gait from the kinetic energy view-point. First,...