Gait control based on energy-efficiency optimization for biped robots

摘要

A gait control based on energy-efficiency optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots.A strategy of energy consumption estimation(ECE) and an algorithm of energy-efficiency optimization are proposed based on three important indices of energy consumption for biped locomo-tion average mechanical power,mean power derivation and mean torque consumption.Controlling the gait of the robot along the trunk trajectory which corresponds to the minimal energy consumption in the zero moment point(ZMP) stability domain,we obtain the energy-efficiency gait guaranteeing the ZMP criterion.Simulation results show the validity of the method.