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

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.
Authors:
 [1] ;  [2] ;  [1] ;  [3] ;  [4] ;  [3]
  1. Polytechnic Institute of Bragança (Portugal)
  2. (Portugal)
  3. (formerly INESC Porto) Porto (Portugal)
  4. Faculty of Engineering, University of Porto (Portugal)
Publication Date:
OSTI Identifier:
22391049
Resource Type:
Journal Article
Resource Relation:
Journal Name: AIP Conference Proceedings; Journal Volume: 1648; Journal 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)
Country of Publication:
United States
Language:
English
Subject:
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSICS; ANNEALING; COMPUTERIZED SIMULATION; ENERGY CONSUMPTION; ENERGY EFFICIENCY; LENGTH; MATHEMATICAL MODELS; MINIMIZATION; PLANNING; ROBOTS