Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking

The design of bipedal robots is generally fulfilled through considering a sequential approach, where synergistic relationship between its structure and control features not promoted. Hence, novel integrated structure-control approach proposed to simultaneously obtain the optimal structural description, torque magnitudes, on/off time intervals for signal input semi-passive robot. takes advantage natural dynamics system activation/deactivation generating stable gait cycles with minimum energy consumption. Consequently, passive robot are included in process evaluating behavior along consecutive walking stages. Then, formulated as nonlinear discontinuous dynamic optimization problem, solution search carried out using differential evolution algorithm due discontinuities dynamics. results proposal compared those obtained by process. achieves reduction 63.55% value performance function related synergy capability energetic efficiency, activation magnitude 95.41%.