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Transition from walking to running of a bipedal robot to optimize energy efficiency

Römer, U.; Bauer, F.; Fidlin, A.

Abstract:
The transition from walking to running gaits in bipedal locomotion is well known from humans. One explanation for this transition is a higher energy efficiency of running gaits at higher velocities. In this paper we use a five-link planar model of a robot to investigate the transition from walking to running based on energy efficiency. For this purpose a physically motivated cost function regarding static as well as dynamic costs is introduced. Periodic walking and running gaits are generated by means of numerical optimization to find the optimal gait of a human-like model in a range from 1.5 to 2.5 m/s. At the transition velocity walking and running require the same cost. Both gaits are investigated to identify the underlying mechanisms. The computed results correspond very well to reports from biomechanics which indicates that the model is suitable for the investigation of human locomotion as well as the generation of optimal gaits for humanoid robots.



Originalveröffentlichung
DOI: 10.1142/9789814623353_0048
Zugehörige Institution(en) am KIT Institut für Technische Mechanik (ITM)
Publikationstyp Proceedingsbeitrag
Jahr 2014
Sprache Englisch
Identifikator ISBN: 978-981-4623-34-6
KITopen-ID: 1000065410
Erschienen in 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014, Poznan, Poland; 21 - 23 July, 2014
Verlag World Scientific, Singapore
Seiten 409-416
Schlagworte bipedal locomotion; energy efficiency; optimization
Nachgewiesen in Scopus
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