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DOI: 10.1002/pamm.201510025

Investigation of optimal bipedal walking gaits subject to different energy-based objective functions

Römer, Ulrich; Fidlin, Alexander; Seemann, Wolfgang

Optimal bipedal walking gaits subject to different energy-based objective functions are investigated using a simple planar rigid body model of a bipedal robot with upper body, thighs and shanks. The robot’s segments are connected by revolute joints actuated by electric motors. The actuators’ torques are generated by a trajectory tracking controller to produce periodic walking gaits. A numerical optimization routine is used to find optimal reference trajectories for average speeds in the range of 0.3 – 2.3 m/s to investigate the influence of different objective functions.

Zugehörige Institution(en) am KIT Institut für Technische Mechanik (ITM)
Publikationstyp Zeitschriftenaufsatz
Jahr 2015
Sprache Englisch
Identifikator ISSN: 1617-7061
KITopen-ID: 1000084024
Erschienen in Proceedings in applied mathematics and mechanics
Band 15
Heft 1
Seiten 69-70
Bemerkung zur Veröffentlichung Special Issue: 86th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Lecce 2015. Ed.: G. Zavarise
Vorab online veröffentlicht am 21.10.2015
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