Center of Percussion and Gait Design of Biped Robots Articles uri icon

publication date

  • November 2010

start page

  • 1681

end page

  • 1693

issue

  • 11

volume

  • 45

International Standard Serial Number (ISSN)

  • 0094-114X

Electronic International Standard Serial Number (EISSN)

  • 1873-3999

abstract

  • 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.