Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait methods, it is usually assumed that torso keeps vertical during walking. It very intuitive and simple. However, may not be efficient. this paper, we propose a with pitch motion (TPM) We also present keeping (TKV) to study effects TPM energy efficiency define cyclic five-link robot several parameters. The parameters are determined by optimization. optimization criterion chosen minimize consumption per unit distance robot. Under criterion, optimal performances TKV compared over different step lengths periods. observed (1) saves more than 12% average TKV, main factor energy-saving in reduction swing knee double support phase (2) overall trend leaning forward backward single phase, amplitude increases as period or length increases.