Generation of Energy Optimal Complete Gait Cycles for Biped Robots
نویسندگان
چکیده
In this paper we address the problem of energy optimal gait generation for biped robots Using a sim pli ed robot dynamics that ignores the e ects of cen tripetal forces we obtain unconstrained optimal tra jectories generated by piecewise constant inputs We study a complete gait cycle comprising single support double support and the transition phases The energy optimal gaits for di erent step lengths and velocities are compared with natural human gait
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