Combining gait optimization with passive system to increase the energy efficiency of a humanoid robot walking movement
- Polytechnic Institute of Bragança (Portugal)
- formerly INESC Porto; Portugal
- Faculty of Engineering, University of Porto (Portugal)
There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The energy consumption can also be reduced with elastic elements coupled to each joint. The presented paper addresses an optimization method, the Stretched Simulated Annealing, that runs in an accurate and stable simulation model to find the optimal gait combined with elastic elements. Final results demonstrate that optimization is a valid gait planning technique.
- OSTI ID:
- 22391049
- Journal Information:
- AIP Conference Proceedings, Journal Name: AIP Conference Proceedings Journal Issue: 1 Vol. 1648; ISSN APCPCS; ISSN 0094-243X
- Country of Publication:
- United States
- Language:
- English
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