3D Walking Biped: Optimal Swing of the Arms

International audienceA ballistic walking gait is designed for a 3D biped with two identical two-link legs, a torso, and two identical one-link arms. In the single support phase, the biped moves due to the existence of a momentum, produced mechanically, without applying active torques in the inter-link joints. This biped is controlled with impulsive torques at the instantaneous double support to obtain a cyclic gait. The impulsive torques are applied in the seven inter-link joints. Then an infinity of solutions exists to find the impulsive torques. An effort cost functional of these impulsive torques is minimized to determine a unique solution. Numerical results show that for a given time period and a given length of the walking gait step, there is an optimal swinging amplitude of the arms. For this optimal motion of the arms, the cost functional is minimum

MODELADO DE UN BIPEDO JUNTO A UN MECANISMO ROBÓTICO EXOESQUELETO

En este artículo, inicialmente, se establece una marcha cíclica para un robot bípedo planosobre una superficie horizontal. El objetivo principal es proporcionar un mecanismo de soporte a la marcha deun bípedo. El aspecto más interesante que se exponeen este artículo,esel desarrollo del modeladopara el conjunto: bípedo (humano) + dispositivo robótico exoesqueleto. También será interesante estudiar si el uso de este mecanismo de ayuda a la marchareduce el esfuerzo que el bípedo debe hacer para este tipo de movimient

On optimal swinging of the biped arms

Abstract — A ballistic walking gait is designed for a planar biped with two identical two-link legs, a trunk and two onelink arms. This seven-link biped is controlled via impulsive torques at the instantaneous double support to obtain a cyclic gait. These impulsive torques are applied in six inter-link joints. Then infinity of solutions exists to find the impulsive torques. An energy cost functional of these impulsive torques is calculated to choose a unique solution by its minimization. Numerical results show that for a given time period of the walking gait step and a length of the step, there exists an optimal swinging amplitude of arms. For this optimal motion of the arms, mentioned above cost functional is minimum. I