Energy-Efficient Gait Planning and Control for Biped Robots Utilizing Vertical Body Motion and Allowable ZMP Region


An energy-economical gait coming up with (EEGP) and management system is established for biped robots with 3-mass inverted pendulum mode (3MIPM), which utilizes each vertical body motion (VBM) and allowable zero-moment-point (ZMP) region (AZR). Given a distance to be traveled, we newly designed an on-line gait synthesis algorithm to construct an entire walking cycle, i.e., a beginning step, multiple cyclic steps, and a stopping step, in that: one) ZMP was absolutely manipulated within AZR; and 2) vertical body movement was allowed to alleviate knee bending. Moreover, gait parameter optimization is effectively performed to determine the optimal set of gait parameters, i.e., average body height and amplitude of VBM, range of steps, and average walking speed, which minimizes energy consumption of actuation motors for leg joints underneath sensible constraints, i.e., geometrical constraints, friction force limit, and yawing moment limit. Various simulations were conducted to identify the effectiveness of the proposed methodology and verify energy-saving performance for numerous ZMP regions. Our control system was implemented and tested on the humanoid robot DARwIn-OP.

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