Generation of energy saving motion for biped walking robot through resonance-based control method

Abstract

In this paper, we apply an energy saving control method to a simulation model that includes some dynamics of biped walking robots. This control method was proposed by the authors, and is based on resonance of multi-joint robots. An advantage of the control method is to work well without using exact parameter values of the controlled systems nor huge numerical calculations. This paper discusses how to apply the proposed control method to walking motions as a first step to realize energy saving biped robots. For this purpose, we consider some dynamics of the biped robots. Simulation results showed that the proposed control method can generate energy saving walking motions.