Minimum Energy Trajectory Planning for Biped Robots

摘要

In this chapter, the method to generate a trajectory of a running motion with minimum energy consumption is proposed. It is useful to know the lower bound of the consumption energy when we design the bipedal robot and select actuators. The exact and general formulation of optimal control for biped robots based on numerical representation of motion equation is proposed to solve exactly the minimum energy consumption trajectories. Through the numerical study of a five link planar biped robot, it is found that big peak power and torque is required for the knee joints but its consumption power is small and the main work is done by the hip joints.