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Biped passive walking gait control method based on energetic optimum

An energy-optimized, gait-controlled technology for use in motor vehicles, transportation, and packaging to achieve high energy efficiency

Active Publication Date: 2013-01-23
TONGJI UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a kind of biped passive walking gait control method based on energy optimization in order to overcome the above-mentioned defective existing in the prior art, and this control method fully utilizes the advantage that the energy efficiency that passive dynamics walking has is extremely high , solve the gait control problem of traditional passive dynamics walking, and improve the energy utilization efficiency of biped robot walking

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  • Biped passive walking gait control method based on energetic optimum
  • Biped passive walking gait control method based on energetic optimum
  • Biped passive walking gait control method based on energetic optimum

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Embodiment

[0030] Such as figure 1 As shown, a biped passive walking gait control method based on energy optimization, the method includes the following steps:

[0031] Step 1: Establish a biped passive walking model to describe the process of biped passive walking.

[0032] The model as image 3 As shown, it consists of two rigid rods of length l, hinged together without friction, and the joint moments at the supporting foot and hip joint are τ a and τ h . The mass of the model is only distributed on the hip joint and the two feet, where the mass of the hip joint is M, and the mass of the foot is m. The inclination angle of the model walking slope is r, if walking on flat ground, then r=0. The entire walking cycle is figure 2 As shown in , it starts from the moment when the swinging leg is about to leave the ground after the supporting foot touches the ground, and both feet are on the ground. The supporting leg then swings forward with the supporting foot as the center, and the ...

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Abstract

The invention relates to a biped passive walking gait method based on energetic optimum. The method comprises the following steps of: 1) establishing a biped passive walking model so as to describe a process of biped passive walking; 2) extracting model parameters to be optimized; 3) setting constraint conditions for the walking gait and constraining the walking process according to characteristics of the periodic passive walking gait; 4) calculating energy consumption in the walking process according to the model parameters; and 5) adopting a sequential quadratic programming method to obtain a relationship between the model parameters under the condition that the energy consumption is at minimum, thereby controlling the biped passive walking gait. Compared with the prior art, the advantage of extremely high energy efficiency of the passive dynamic walking is utilized by the method. Through the method optimization, the biped walking gait with the minimal energy consumption is obtained under the condition of walking constraints.

Description

technical field [0001] The invention relates to a biped robot walking gait control method, in particular to a biped passive walking gait control method based on energy optimization. Background technique [0002] Biped walking robot technology is one of the hot research topics in the 21st century. Since the birth of the first biped walking robot WAP-1 in the early 1970s, people have been constantly trying to create a biped walking robot that is more similar to human walking. In October 2011, the Boston Dynamics company of the United States released the Petman robot, which has the shape and size of a human being. It can walk, move and do various human-imitating actions very stably. The problem is that walking consumes a lot of energy and is not as efficient as human walking. [0003] However, from the perspective of natural evolution, in the process of walking, the principle of gait selection should be to consume the least unit energy. In the early 1990s, scholars discovere...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 安康陈启军
Owner TONGJI UNIV
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