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Feasible speeds for two optimal periodic walking gaits of a planar biped robot

Published online by Cambridge University Press:  04 June 2021

Mathieu Hobon ,
Víctor De-León-Gómez ,
Gabriel Abba ,
Yannick Aoustin Open the ORCID record for Yannick Aoustin [Opens in a new window]  and
Christine Chevallereau
Mathieu Hobon
Affiliation:
Laboratoire de Conception Fabrication Commande, EA 4495, Arts et Métiers ParisTech, Université de Lorraine, 4 rue Augustin Fresnel, 57078 Metz Cedex 3, France
Víctor De-León-Gómez
Affiliation:
Laboratoire des Sciences du Numérique, de Nantes, UMR 6004, CNRS, École Centrale de Nantes, Université de Nantes, 1, rue de la Noë, BP 92101, 44321 Nantes, France
Gabriel Abba
Affiliation:
Laboratoire de Conception Fabrication Commande, EA 4495, Arts et Métiers ParisTech, Université de Lorraine, 4 rue Augustin Fresnel, 57078 Metz Cedex 3, France
Yannick Aoustin*
Affiliation:
Laboratoire des Sciences du Numérique, de Nantes, UMR 6004, CNRS, École Centrale de Nantes, Université de Nantes, 1, rue de la Noë, BP 92101, 44321 Nantes, France
Christine Chevallereau
Affiliation:
Laboratoire des Sciences du Numérique, de Nantes, UMR 6004, CNRS, École Centrale de Nantes, Université de Nantes, 1, rue de la Noë, BP 92101, 44321 Nantes, France
*
*Corresponding author. Email: Yannick.Aoustin@univ-nantes.fr
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Abstract

The purpose is to define the range of feasible speeds for two walking motions for a particular planar biped robot, which differ in the definition of their finite-time double support phases. For each speed, these two walking motions are numerically obtained by using a parametric optimization algorithm, regarding a sthenic criterion. Results allow us to define the range of allowable speeds for each walking. One result is that the first gait is less consuming in energy for moderate to fast velocity with respect to the second one, while the second gait is more efficient for low walking velocity.

Keywords

Walking gaitFinite-time doubleImpact with foot flatToe impactHeel impact
Type
Article
Information
Robotica , Volume 40 , Issue 2 , February 2022 , pp. 377 - 402
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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