Dynamic Modeling and Optimal Walking Gait Planning of a Real Biped Robot Based on SLIP and Compass gait Models

Document Type : Original Article

Authors

• Behnam Dadashzadeh
• Seyed Ahmad Mostafavi
• Akbar Allahverdizadeh

University of Tabriz

10.22067/fum-mech.v30i1.67602

Abstract

Biped robots with point feet demonstrate faster gaits and more natural dynamics while their gait planning is very difficult due to their underactuation. This research focuses on modelling, optimization and gait generation of two different real biped models including a telescopic springy biped model and compass gait biped with kneed swing leg. All of these models have point feet and their torso angle is constrained and they move in sagittal plane. The main difference of these models with their corresponding theoretical models is that to give realization to the gaits of these models the knee of their swing leg bends, clears the ground and straightens before touch-down. This increases degrees of freedom and divides single support phase to two sub-phases. Different phases of walking gait of each model including single support phase, touch-down event and double support phase are modeled using Lagrange equation and validity of equations are demonstrated. Then the dynamic equations of the phases are combined together to make dynamic model of a full walking gait. Afterwards, optimization parameters, objective functions and constraints are presented and successive stages of optimization are performed to find optimal gaits. The optimization diagrams are discussed and the needed motor torques for the optimal gait of each model are illustrated.

Keywords

• Biped robot
• Walking
• Modeling
• Gait Optimization

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