Gait Planning and the Cost of Transport of Biped Walking

Yuanyang Qi

doi:10.47297/wspiedWSP2516-250008.20220609

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Gait Planning and the Cost of Transport of Biped Walking

6卷第9期

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Gait Planning and the Cost of Transport of Biped Walking
Gait Planning and the Cost of Transport of Biped Walking
Department of Automation, Harbin Institute of Technology, Harbin, Heilongjiang Province, 150001,China
2022年6卷第9期页码：42-47
纸质出版日期： 2022-09-25 ，
DOI：10.47297/wspiedWSP2516-250008.20220609
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Gait Planning and the Cost of Transport of Biped Walking[J]. 国际教育与发展（英文版）, 2022,6(9):42-47.

Qi Yuanyang.Gait Planning and the Cost of Transport of Biped Walking[J].Journal of International Education and Development,2022,06(09):42-47.
Gait Planning and the Cost of Transport of Biped Walking[J]. 国际教育与发展（英文版）, 2022,6(9):42-47. DOI： 10.47297/wspiedWSP2516-250008.20220609.

Qi Yuanyang.Gait Planning and the Cost of Transport of Biped Walking[J].Journal of International Education and Development,2022,06(09):42-47. DOI： 10.47297/wspiedWSP2516-250008.20220609.

摘要

Abstract

The study aims to build an accurate biped model

design a suitable controller and analyze the cost of transport of biped walking. A three-mass model restricted to moving in a two-dimensional plane using PID controller and gait planning was established as the dynamic model based on the Lagrange equation. And a calculation method of robot energy consumption based on impulse is proposed to analyze the cost of transport. Some indexes such as stability

the cost of transport and so on are used to compare two controllers: using PID controller only and both using PID controller and gait planning. External perturbations are forced to verify robustness. The simulation results indicate that the robot stabilizes more quickly and consumed less energy when both using PID controller and gait planning than using PID controller only. In addition

the robot has certain adaptability to external disturbance.

关键词

Keywords

Lagrange equationPIDGait planningCost of transport

references

T. Sato, S. Sakaino and K. Ohnishi, "Real-Time Walking Trajectory Generation Method With Three-Mass Models at Constant Body Height for Three-Dimensional Biped Robots," in IEEE Transactions on Industrial Electronics, vol. 58, no. 2, pp. 376-383, Feb. 2011.

R. Gautam and A. T. Patil, "Modeling and control of joint angles of a biped robot leg using PID controllers," 2015 IEEE International Conference on Engineering and Technology (ICETECH), 2015, pp. 1-5.

Jun Nishii, An analytical estimation of the energy cost for legged locomotion, Journal of Theoretical Biology, Volume 238, Issue 3, 2006, Pages 636-645.

Liao Fakang, Zhou Yali, Zhang Qizhi. Gait transition control of flexible biped robot with variable leg length and swing leg dynamics. Mechanics in Engineering,1-18[2022-10-13].

HE Jie, ZHANG Xiaohui, XIAO Xiaohuiet al. Energy-efficient bipedal walking for humanoid robots based on a three-mass model. Journal of Central South University (Science and Technology), 2020,51(12):3396-3406.

HOU Wenqi. Walking Energy Cost Analysis and Compliant Walking Control of Biped Robot. National University of Defense Technology,2016.

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