715 Study of Minimal Energy Biped Walking

摘要

This paper describes an optimal trajectory planning of biped walking. Humanoid robots cost much energy with normal walking. It is important to develop energy-efficient walking and a control method of natural walking. We are interested in natural, high-speed and energy-efficient motion of organisms from a perspective of rehabilitation, medical treatment and engineering application. We obtained the optimal trajectory solution with a minimal square integral of input torque under the full-actuated condition with optimum trajectory planning method developed in our laboratory. Then, I developed a experimental robot and verified this method.