Combining Gait Optimization with Passive System to Increase the Energy Efficiency of a Humanoid Robot Walking Movement

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Pereira, AI (Author) Other; Lima, J (Author) Other; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE OF NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2014 (ICNAAM-2014)

International Conference on Numerical Analysis and Applied Mathematics (ICNAAM)

Rhodes, GREECE, SEP 22-28, 2014

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Scopus - 1 Citation

Other information

Authenticus ID: P-00G-BCZ

DOI: 10.1063/1.4912422

Abstract (EN): There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The energy consumption can also be reduced with elastic elements coupled to each joint. The presented paper addresses an optimization method, the Stretched Simulated Annealing, that runs in an accurate and stable simulation model to find the optimal gait combined with elastic elements. Final results demonstrate that optimization is a valid gait planning technique.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 4