Combining gait optimization with passive system to increase the energy efficiency of a humanoid robot walking movement

Journal Article · Tue Mar 10 00:00:00 EDT 2015 · AIP Conference Proceedings

DOI:https://doi.org/10.1063/1.4912422· OSTI ID:22391049

Pereira, Ana I. ^[1]; Lima, José ^[1]; Porto, INESC TEC ^[2]; Costa, Paulo ^[3]; Porto, INESC TEC ^[2]

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1. Polytechnic Institute of Bragança (Portugal)
2. formerly INESC Porto; Portugal
3. 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, Vol. 1648, Issue 1; Conference: ICNAAM-2014: International Conference on Numerical Analysis and Applied Mathematics 2014, Rhodes (Greece), 22-28 Sep 2014; Other Information: (c) 2015 AIP Publishing LLC; Country of input: International Atomic Energy Agency (IAEA); ISSN 0094-243X
• Country of Publication: United States
• Language: English

Related Subjects

71 CLASSICAL AND QUANTUM MECHANICS
GENERAL PHYSICS
ANNEALING
COMPUTERIZED SIMULATION
ENERGY CONSUMPTION
ENERGY EFFICIENCY
LENGTH
MATHEMATICAL MODELS
MINIMIZATION
PLANNING
ROBOTS