Optimization of Bipedal Walker Gaits with Constant Knee Stiffness

摘要: Energy efficient bipedal locomotion is one of the research areas Robotics and Mechatronics (RAM) group at University Twente. This MSc project continues that with the optimization walking gaits application optimization to a walker with constant knee stiffness. Previous students investigated spring loaded inverted pendulum (SLIP) model. A swing leg was added model [1] trajectories were chosen by an educated guess. The hip segmented-SLIP (S-SLIP) were used as references for control robotic walker [2] [3]. Simulations showed the gait cycle behaviour SLIP S-SLIP not similar walker. Therefore, using or did not seems like viable idea. One recommendations in [3] indicated need higher quality reference trajectories. The paper, presented section 2, proposes novel method walker gaits stiffness. Power used it optimizes over the state variables inputs complete gait once [4]. has two legs, both an upper lower leg. There torsion on knee. parameters the spring, equilibrium position, are during walking. However, the spring part optimization. The optimized three steps, distinction between how is used optimization. First, set zero. Second, spring constant Third, position are part optimizations show torque needed reduced adding the springs walker. Remarkable also reduces input torques to the joint no spring. shape foot trajectories change increasing velocities. So, imposing have same shape different velocities, done before, will thus result optimal regard to energy efficiency. Section 3 presents details implementation the optimization. conclusions 4. Final are reported 5.