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Study on Gait Pattern Generation With Improved Hip Vertical Motion for Biped Robots

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Iranian Journal of Science and Technology, Transactions of Mechanical Engineering Aims and scope Submit manuscript

Abstract

Gait pattern generation plays a significant role in the quality of a walking robot. This paper mainly focuses on hip vertical motion effects on gait pattern generation for biped robots. Inspired by human walking, gait pattern with hip undulating motion (GPHUM) is proposed. Firstly, we defined cyclic gaits for a seven-link biped robot with several design parameters. Then, design parameters are obtained by optimization. The optimization criterion is minimizing the energy consumption of the joint actuators. Finally, optimal walking gait is simulated. In order to compare the performance of the proposed common gait pattern with fixed hip height pattern (GPFHH), we generated the optimal gait for the two gait patterns with different step lengths and different walking periods. The comparison of simulation results shows that GPHUM is more than 20% energy-efficient than GPFHH; therefore, the proposed GPHUM can greatly improve the walking time of the robot with battery as the power source. Moreover, the hip height parameters are related to the step length, and the change of the walking period has no significant effect on these parameters; thus, hip height parameters corresponding to different step length can be calculated off-line for the online gait pattern generation. In addition, the proposed GPHUM has larger optimal step length than GPFHH, and it allows the biped robot walk more efficiently with a larger stride.

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Funding

This work was support by the Natural Science Foundation of China under Grant 51375085.

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Authors and Affiliations

  1. Bionic Robotics Lab, School of Mechanical Engineering, Southeast University, Nanjing, China

    Long Li, Zhongqu Xie & Xiang Luo

  2. School of Mechanical–Electrical Engineering, North China Institute of Science and Technology, Yanjiao, China

    Juanjuan Li

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  1. Long Li
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  2. Zhongqu Xie
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  3. Xiang Luo
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  4. Juanjuan Li
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Correspondence to Xiang Luo.

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Li, L., Xie, Z., Luo, X. et al. Study on Gait Pattern Generation With Improved Hip Vertical Motion for Biped Robots. Iran J Sci Technol Trans Mech Eng 46, 497–508 (2022). https://doi.org/10.1007/s40997-021-00447-z

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  • DOI: https://doi.org/10.1007/s40997-021-00447-z

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