Publisher： John Wiley & Sons Inc
E-ISSN： 1617-7061|15|1|69-70
ISSN： 1617-7061
Source： PROCEEDINGS IN APPLIED MATHEMATICS & MECHANICS (ELECTRONIC), Vol.15, Iss.1, 2015-10, pp. : 69-70
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Abstract
AbstractOptimal bipedal walking gaits subject to different energy‐based objective functions are investigated using a simple planar rigid body model of a bipedal robot with upper body, thighs and shanks. The robot's segments are connected by revolute joints actuated by electric motors. The actuators' torques are generated by a trajectory tracking controller to produce periodic walking gaits. A numerical optimization routine is used to find optimal reference trajectories for average speeds in the range of 0.3 – 2.3 m/s to investigate the influence of different objective functions. (© 2015 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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