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Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model.
Behnam Dadashzadeh1, Mohammad Esmaeili1, Chris Macnab2
1Department of Mechatronics Engineering, School of Engineering Emerging Technologies, University of Tabriz, Tabriz, Iran.
Plos One
|January 25, 2017
Summary
This study explores running gaits for bipeds using a point mass biped model. Researchers found that specific leg actuator forces can create versatile trajectories, and double-hump ground reaction forces may reduce maximum leg effort.
Area of Science:
- Robotics
- Biomechanics
- Control Theory
Background:
- Bipedal running gait generation is complex, with existing models like the spring-loaded inverted pendulum (SLIP) having limitations.
- Underactuated bipeds require advanced control strategies for dynamic maneuvers like running.
Purpose of the Study:
- To investigate the generation of symmetric running trajectories for an underactuated biped during the stance phase.
- To develop a more versatile gait analysis model than the SLIP model for robotic applications.
Main Methods:
- Utilized a point mass biped (PMB) model with a prismatic force actuator for gait analysis.
- Employed inverse kinematics and dynamics to calculate necessary leg actuator forces for desired center-of-mass trajectories.
- Compared various center-of-mass trajectories (circular arc, polynomials) and analyzed cost of transport and maximum leg force.
Main Results:
- Identified that minimizing velocity angle is beneficial for running efficiency, while the angle of attack has an optimal value.
- Demonstrated that the PMB model generates more versatile gaits compared to the SLIP model.
- Discovered novel biped running gaits with double-hump ground reaction force profiles that require less maximum leg force than single-hump profiles.
Conclusions:
- The PMB model offers a more adaptable framework for generating diverse bipedal running gaits suitable for real robots.
- Optimizing attack and velocity angles, alongside exploring double-hump force profiles, can significantly improve running performance and reduce actuator strain.
