Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency

Chen, Ziyu; An, Kang; Wang, Zibo; Miao, Tiantian; Song, Yaqing; Shangguan, Qianqian

doi:10.3390/app131910791

Open AccessArticle

Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency

by

Ziyu Chen

^†

,

Kang An

^*,†,

Zibo Wang

,

Tiantian Miao

,

Yaqing Song

and

Qianqian Shangguan

^*

The College of Information, Mechanical and Electrical Engineering, Shanghai Normal University, Shanghai 201418, China

^*

Authors to whom correspondence should be addressed.

^†

These authors contributed equally to this work.

Appl. Sci. 2023, 13(19), 10791; https://doi.org/10.3390/app131910791

Submission received: 4 September 2023 / Revised: 22 September 2023 / Accepted: 25 September 2023 / Published: 28 September 2023

(This article belongs to the Section Mechanical Engineering)

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Abstract

Mechanism parameters of bipedal robots are crucial for achieving efficient locomotion in complex environments. Inspired by the human energy-efficient walking style, this paper proposes a novel concept of full-range walking energy efficiency and explores the optimal linkage mechanism within certain ranges of step length and walking speed for bipedal robots. First, a bipedal model incorporating an upper body is established for dynamic analysis. Next, an optimal walking gait subject to walking constraints is solved by considering the full-range energy efficiency. Further, an optimal linkage mechanism is investigated, and the influence of dynamic parameters on energy efficiency is analyzed. Finally, the push-off impulse, minimum ground support force, and walking torque features are discussed. It shows that the full-range walking energy efficiency can be lowered by reducing the ratio of leg mass, concentrating mass at the hip joint, decreasing the length of the upper body, or increasing the center of mass of the leg. In addition, efficient walking motion can be achieved by designing the coordination of positive hip joint torque and push-off impulse at the ankle. This paper can be used to guide the mechanism parameter optimization and efficient walking gait design of bipedal robots.

Keywords: full-range walking energy efficiency; dynamic optimization; motion planning; efficient walking gait; bipedal robot

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MDPI and ACS Style

Chen, Z.; An, K.; Wang, Z.; Miao, T.; Song, Y.; Shangguan, Q. Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency. Appl. Sci. 2023, 13, 10791. https://doi.org/10.3390/app131910791

AMA Style

Chen Z, An K, Wang Z, Miao T, Song Y, Shangguan Q. Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency. Applied Sciences. 2023; 13(19):10791. https://doi.org/10.3390/app131910791

Chicago/Turabian Style

Chen, Ziyu, Kang An, Zibo Wang, Tiantian Miao, Yaqing Song, and Qianqian Shangguan. 2023. "Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency" Applied Sciences 13, no. 19: 10791. https://doi.org/10.3390/app131910791

APA Style

Chen, Z., An, K., Wang, Z., Miao, T., Song, Y., & Shangguan, Q. (2023). Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency. Applied Sciences, 13(19), 10791. https://doi.org/10.3390/app131910791

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Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency

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