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Gait optimization and energetics of ballistic walking for an underactuated biped with knees

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Abstract

In this paper, we study gait optimization of ballistic walking in order to understand the natural dynamics of an underactuated biped with knees. We also propose applications for our understandings. Our optimization problem is solved by fixing energy levels, and then, we attempt to explain how optimal gaits are formed by examining the role of each joint in speeding up. In addition, we explain some natural characteristics of walking. Based on the results, we propose a new cost function to generate various walking gaits, including the optimum. Finally, we evaluate and discuss the energy efficiency of our ballistic walker and other bipedal walkers including humans.

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Notes

  1. It was known also as the specific energetic cost of transport [13] or total cost of transport [9] in other papers.

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Acknowledgments

This work was supported by the 2010 Research Fund (1.100036.01) of UNIST (Ulsan National Institute of Science and Technology), the 2012 Creativity and Innovation Research Fund (1.120047.01) of UNIST, and the 2015 Research Fund (1.150033.01) of UNIST.

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Authors and Affiliations

  1. School of Mechanical and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan, 44919, Korea

    Jae-Sung Moon

  2. Department of Mechanical Engineering, and School of Mechanical and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan, 44919, Korea

    Joonbum Bae

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Correspondence to Joonbum Bae.

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Moon, JS., Bae, J. Gait optimization and energetics of ballistic walking for an underactuated biped with knees. Nonlinear Dyn 85, 1533–1546 (2016). https://doi.org/10.1007/s11071-016-2777-2

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