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Energy-Efficient Bipedal Walking: From Single-Mass Model to Three-Mass Model

Published online by Cambridge University Press:  22 February 2021

Jiatao Ding ,
Jiangchen Zhou ,
Zhao Guo  and
Xiaohui Xiao Open the ORCID record for Xiaohui Xiao [Opens in a new window]
Jiatao Ding
Affiliation:
School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei Province 430072, P.R. China E-mails: jtding@whu.edu.cn, zhoujc@whu.edu.cn, guozhao@whu.edu.cn Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, Guangdong Province 518000, P.R. China
Jiangchen Zhou
Affiliation:
School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei Province 430072, P.R. China E-mails: jtding@whu.edu.cn, zhoujc@whu.edu.cn, guozhao@whu.edu.cn
Zhao Guo
Affiliation:
School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei Province 430072, P.R. China E-mails: jtding@whu.edu.cn, zhoujc@whu.edu.cn, guozhao@whu.edu.cn
Xiaohui Xiao*
Affiliation:
School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei Province 430072, P.R. China E-mails: jtding@whu.edu.cn, zhoujc@whu.edu.cn, guozhao@whu.edu.cn
*
*Corresponding author. E-mail: xhxiao@whu.edu.cn
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Summary

The work aims to realize energy-efficient bipedal walking by employing the three-mass inverted pendulum model (3MIPM) and compare its energy performance with linear inverted pendulum model (LIPM). To do this, a general optimal index on center of mass (CoM) acceleration is first derived for energetic cost evaluation. After defining the equivalent zero moment point (ZMP) motion, an unconstrained optimization approach for CoM generation is extended for 3MIPM, which can track different ZMP references and address the height variation as well. To make use of the allowable ZMP movement, a constrained optimization method is also employed, contributing to lower energetic cost. Simulation and hardware experiments on a humanoid robot demonstrate that the 3MIPM could achieve higher energy efficiency.

Keywords

Energy efficiencyBipedal walkingThree-mass inverted pendulum modelAllowable ZMP movementBody height variation
Type
Article
Information
Robotica , Volume 39 , Issue 9 , September 2021 , pp. 1537 - 1559
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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