A humanoid walking pattern generator for sole design optimization

摘要: We devised a new walking pattern generator based on minimization of the energy consumption that offers necessary parameters to be used in flexible sole design problems. This is implemented two sets experiments implying HRP-2 humanoid robot: with different weighting between (i) center mass forces, and (ii) torques applied at ankle joint. also considered types feet: built-in ankle, our proposed solution keeps ankle-to-foot without flexibility add instead sole. The latter shows several benefits are discussed.