Impactless Sagittal Gait of a Biped Robot During the Single Support Phase
نویسندگان
چکیده
The problem of generating optimal sagittal reference gaits in bipedal walking is addressed. In our study the single-support phase during which the biped reaches its highest instability will be considered. The approach developed allows for a fully dynamic model of the biped, and is based on minimizing the integral of quadratic joint actuating torques. Impactless and non-sliding heel-touch will be accounted for, ensuring a more stable and easier controled walking. Optimal motion synthesis is achieved by applying the Pontryagin maxcimum principle. Two numerical simulations are presented. Computed optimal motions reveal anthropomorphic gait characteristics.
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