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Proceedings Paper

Planning energy-efficient bipedal locomotion on patterned terrain
Author(s): Ali Zamani; Pranav A. Bhounsule; Ahmad Taha
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Paper 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.

Paper Details

Date Published: 13 May 2016
PDF: 7 pages
Proc. SPIE 9837, Unmanned Systems Technology XVIII, 98370A (13 May 2016); doi: 10.1117/12.2223447
Show Author Affiliations
Ali Zamani, The Univ. of Texas at San Antonio (United States)
Pranav A. Bhounsule, The Univ. of Texas at San Antonio (United States)
Ahmad Taha, The Univ. of Texas at San Antonio (United States)


Published in SPIE Proceedings Vol. 9837:
Unmanned Systems Technology XVIII
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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