TY - GEN
T1 - Compliance in gait synthesis
T2 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
AU - Scheint, Michael
AU - Sobotka, Marion
AU - Buss, Martin
PY - 2008
Y1 - 2008
N2 - The role of compliance in walking controller synthesis is explored in this paper. Gait is designed for a simple biped with compliant legs using the concept of hybrid zero dynamics. Simultaneous optimization of gait and leg spring stiffness and optimization of gait at a fixed leg spring stiffnesses is carried out. Different cost functions based on energy are considered. The influence of compliance on gait and the influence of the measure of energy on optimal compliance are investigated. It is shown that minimum actuator energy consumption is obtained if leg stiffness is subject to optimization along with gait parameters. Sum of actuator work and spring work is higher than in optimized stiff-legged gait. Depending on the choice of cost function, fundamental different gait characteristics and optimal stiffnesses are obtained.
AB - The role of compliance in walking controller synthesis is explored in this paper. Gait is designed for a simple biped with compliant legs using the concept of hybrid zero dynamics. Simultaneous optimization of gait and leg spring stiffness and optimization of gait at a fixed leg spring stiffnesses is carried out. Different cost functions based on energy are considered. The influence of compliance on gait and the influence of the measure of energy on optimal compliance are investigated. It is shown that minimum actuator energy consumption is obtained if leg stiffness is subject to optimization along with gait parameters. Sum of actuator work and spring work is higher than in optimized stiff-legged gait. Depending on the choice of cost function, fundamental different gait characteristics and optimal stiffnesses are obtained.
UR - http://www.scopus.com/inward/record.url?scp=63549141988&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2008.4755955
DO - 10.1109/ICHR.2008.4755955
M3 - Conference contribution
AN - SCOPUS:63549141988
SN - 9781424428229
T3 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
SP - 259
EP - 264
BT - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Y2 - 1 December 2008 through 3 December 2008
ER -
