Optimal Control and Design of Bipedal Robots with ComplianceOptimale Steuerung und Auslegung zweibeiniger Laufroboter mit elastischen Gelenken

摘要

Abstract The purpose of this paper is to present an interesting area of appplication for modern optimal control techniques in robotics. Optimal control can significantly improve the control of bipedal walking motions, in particular by an optimal exploitation and an appropriate tuning of compliance. Two optimization methods for gait generation and three bipedal robot models are used to highlight three aspects: optimally tuned elastic elements significantly reduce energy consumption for locomotion, produce natural-looking gaits, and enhance the open-loop stability of the gait. It is concluded that optimization of compliance in legged robots is a promising approach towards dynamic, energy-efficient locomotion.