A Method for Rapid Generation of Passive Dynamic Walking Gait Based on Gait Library

Passive dynamic walking offers an effective way achieving energy-efficient bipedal locomotion. In this paper, we present a method for rapidly generating gaits based on a gait library. Initially, a set of period-1 passive dynamic walking gaits is pre-computed. Then, these gaits are parameterized usin...

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Bibliographic Details
Main Authors: Pu, Lishen, Wang, Zhibo, Liu, Yixuan, Xu, Chunquan
Format: Conference Proceeding
Language:English
Subjects:
Automation
Biped robot
Energy consumption
Energy efficiency
Gait generation
Legged locomotion
Libraries
Mechatronics
Passive dynamic walking
Polynomials
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Summary:Passive dynamic walking offers an effective way achieving energy-efficient bipedal locomotion. In this paper, we present a method for rapidly generating gaits based on a gait library. Initially, a set of period-1 passive dynamic walking gaits is pre-computed. Then, these gaits are parameterized using Bezier curves. Finally, by employing polynomial regression to fit gait features and parameters, a gait library is constructed. Case studies are conducted on a compass-like biped model and a kneed biped model. The results demonstrate that the gait library is capable of rapidly generating a desired gait within 1 millisecond, with energy consumption almost equivalent to that of passive dynamic walking.
ISSN:2152-744X
DOI:10.1109/ICMA61710.2024.10633207