Optimal mass distribution for a passive dynamic biped with upper body considering speed, efficiency and stability

Author

Huang, Yan ; Wang, Qining ; Xie, Guangming ; Wang, Long

Author_Institution

Dept. of Mech. & Aerosp. Eng., Peking Univ., Beijing

fYear

2008

fDate

1-3 Dec. 2008

Firstpage

515

Lastpage

520

Abstract

This paper reports how mass distribution can affect the stability, efficiency and speed of a passive dynamic biped with upper body. To investigate the optimal mass distribution, we extend the simplest walking model with upper body, round feet and hip actuation. The mechanical parameters, including mass and the center of mass, are optimized by particle swarm optimization method. In addition, the effects of the hip torque on the walking characteristics are studied. Simulation results indicate that optimized mass distribution can improve walking characteristics of the passivity-based biped.

Keywords

legged locomotion; particle swarm optimisation; robot dynamics; stability; torque control; biped speed; center of mass optimization; hip actuation; hip torque effect; mechanical parameters; optimal mass distribution; particle swarm optimization; passive dynamic biped; round feet; stability; upper body; walking characteristics; walking model; Aerodynamics; Biological system modeling; Hip; Humans; Leg; Legged locomotion; Optimization methods; Particle swarm optimization; Stability; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4244-2821-2

Electronic_ISBN

978-1-4244-2822-9

Type

conf

DOI

10.1109/ICHR.2008.4756006

Filename

4756006