Generation of energy optimal complete gait cycles for biped robots

摘要

We address the problem of energy optimal gait generation for biped robots. Using a simplified robot dynamics that ignores the effects of centripetal forces, we obtain unconstrained optimal trajectories generated by piecewise constant inputs. The study a complete gait cycle comprising single support, double support and the transition phases. The energy optimal gaits for different step lengths and velocities are compared with natural human gait.