Study on minimal energy consumption of three dimensional bipedal walking robot trajectory

Minimal energy consumption trajectory is important for battery-powered bipedal robots. Linear inverted pendulum model or LIPM-based walking has some drawbacks in robot's walking efficiency. LIPM walking which has a constant center of mass (CoM) height consumes more energy during walking. This is shown by our preliminary work. The preliminary work results suggest that varying CoM height during walking could help to minimize energy consumption. This thesis proposed a variational method to find the minimal energy trajectory by using Bspline control points for joints' minimization. Apart from that, this method also helps in determining minimal energy swing leg trajectory during the optimized single support phase. The validity of the proposed method is verified with simulation results