An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits
Nelson Rosa,Bassel Katamish,Maximilian Raff,C. David Remy,Nelson Rosa,Bassel Katamish,Maximilian Raff,C. David Remy
For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing continuous families of locally optimal gaits with respect to a class of commonly used energetic cost functions (e.g., the integral of torque-squared). We compute these families using only the passive gaits of the biped, which ...
