- MECHANISM AND MACHINE THEORY Journal
- November 2010
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In this paper a novel gait generation technique is proposed, whose objective is to optimize the mechanical design of actuated bipeds in order to reduce energy consumption. The novelty is the use of the center of percussion
of the robot to calculate the equivalent simple pendulum of the system.
With the equivalent pendulum, the gait is parameterized using its
natural frequency. The advantage of this technique is the possibility to
assess the influence of the mass and inertia properties of a biped
robot on the gait. Therefore, an intelligent design of the kinematic
chain can be made using the equivalence developed here. In addition, the
method is a new option to linearize biped systems. Control is achieved
by designing an adaptive PD controller for gait generation. This
algorithm is applied to a compass-like biped with knees and a flywheel
as a replacement for the body.