ICRA'09 Paper Abstract


Paper FrB1.3

Asano, Fumihiko (Japan Advanced Institute of Science and Technology), Luo, Zhi-Wei (Kobe University)

On Efficiency and Optimality of Asymmetric Dynamic Bipedal Gait

Scheduled for presentation during the Regular Sessions "Legged Robots and Humanoid Locomotion - II" (FrB1), Friday, May 15, 2009, 11:10−11:30, MainHall

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Legged Robots and Humanoid Locomotion, Dynamics, Mechanism Design


Period-doubling bifurcation and chaotic behavior are interesting phenomena in limit cycle walking. Their mechanisms are very complicated and their roles in dynamic biped locomotion are still unclear. This paper then investigates how the gait efficiency changes with the asymmetrization through analysis of a simple rimless wheel model. We mathematically show that the symmetric configuration gives the optimal solution when the mean value of the inter-leg angles is constant in terms of kinetic energy. This is derived from two magnitude relations of the energy-loss coefficient and restored mechanical energy. We also show that the symmetric gait is not always optimal from another viewpoint.



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