Planning energy-efficient bipedal locomotion on patterned terrain

Ali Zamani; Pranav A. Bhounsule; Ahmad Taha

doi:10.1117/12.2223447

13 May 2016 Planning energy-efficient bipedal locomotion on patterned terrain

Ali Zamani, Pranav A. Bhounsule, Ahmad Taha

Proceedings Volume 9837, Unmanned Systems Technology XVIII; 98370A (2016) https://doi.org/10.1117/12.2223447
Event: SPIE Defense + Security, 2016, Baltimore, MD, United States

Abstract

Energy-eﬃcient bipedal walking is essential in realizing practical bipedal systems. However, current energy-eﬃcient bipedal robots (e.g., passive-dynamics-inspired robots) are limited to walking at a single speed and step length. The objective of this work is to address this gap by developing a method of synthesizing energy-eﬃcient bipedal locomotion on patterned terrain consisting of stepping stones using energy-eﬃcient primitives. A model of Cornell Ranger (a passive-dynamics inspired robot) is utilized to illustrate our technique. First, an energy-optimal trajectory control problem for a single step is formulated and solved. The solution minimizes the Total Cost Of Transport (TCOT is deﬁned as the energy used per unit weight per unit distance travelled) subject to various constraints such as actuator limits, foot scuﬃng, joint kinematic limits, ground reaction forces. The outcome of the optimization scheme is a table of TCOT values as a function of step length and step velocity. Next, we parameterize the terrain to identify the location of the stepping stones. Finally, the TCOT table is used in conjunction with the parameterized terrain to plan an energy-eﬃcient stepping strategy.

Citation Download Citation

Ali Zamani, Pranav A. Bhounsule, and Ahmad Taha "Planning energy-efficient bipedal locomotion on patterned terrain", Proc. SPIE 9837, Unmanned Systems Technology XVIII, 98370A (13 May 2016); https://doi.org/10.1117/12.2223447

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