Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking

Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking

This paper proposes an analysis of the effect of vertical position of the pivot point of the inverted pendulum during humanoid walking. We introduce a new feature of the inverted pendulum by taking a pivot point under the ground level allowing a natural trajectory for the center of pressure (CoP), l...

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Main Authors: Omran Sahab, Sakka Sophie, Aoustin Yannick
Format: Article
Language:English
Published: Polish Academy of Sciences 2016-06-01
Series:Archive of Mechanical Engineering
Subjects:
Inverted pendulum
pivot point
walking robots
energy consumption
joint torques
Online Access:http://www.degruyter.com/view/j/meceng.2016.63.issue-2/meceng-2016-0014/meceng-2016-0014.xml?format=INT
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spelling doaj-f3403f12ddb2466b97d62859380c22f32020-11-25T03:23:37ZengPolish Academy of SciencesArchive of Mechanical Engineering 2300-18952016-06-0163224526210.1515/meceng-2016-0014meceng-2016-0014Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid WalkingOmran Sahab0Sakka Sophie1Aoustin Yannick2 LUNAM, IRCCyN, CNRS, Ecole Centrale de Nantes, University of Nantes. 1, rue de la Noë, BP 92101. 44321 Nantes, France IRCCyN, University of Poitiers, France LUNAM, IRCCyN, CNRS, Ecole Centrale de Nantes, University of Nantes. 1, rue de la Noë, BP 92101. 44321 Nantes, FranceThis paper proposes an analysis of the effect of vertical position of the pivot point of the inverted pendulum during humanoid walking. We introduce a new feature of the inverted pendulum by taking a pivot point under the ground level allowing a natural trajectory for the center of pressure (CoP), like in human walking. The influence of the vertical position of the pivot point on energy consumption is analyzed here. The evaluation of a 3D Walking gait is based on the energy consumption. A sthenic criterion is used to depict this evaluation. A consequent reduction of joint torques is shown with a pivot point under the ground.http://www.degruyter.com/view/j/meceng.2016.63.issue-2/meceng-2016-0014/meceng-2016-0014.xml?format=INTInverted pendulumpivot pointwalking robotsenergy consumptionjoint torques
collection DOAJ
language English
format Article
sources DOAJ
author Omran Sahab
Sakka Sophie
Aoustin Yannick
spellingShingle Omran Sahab
Sakka Sophie
Aoustin Yannick
Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking
Archive of Mechanical Engineering
Inverted pendulum
pivot point
walking robots
energy consumption
joint torques
author_facet Omran Sahab
Sakka Sophie
Aoustin Yannick
author_sort Omran Sahab
title Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking
title_short Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking
title_full Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking
title_fullStr Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking
title_full_unstemmed Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking
title_sort using the generalized inverted pendulum to generate less energy-consuming trajectories for humanoid walking
publisher Polish Academy of Sciences
series Archive of Mechanical Engineering
issn 2300-1895
publishDate 2016-06-01
description This paper proposes an analysis of the effect of vertical position of the pivot point of the inverted pendulum during humanoid walking. We introduce a new feature of the inverted pendulum by taking a pivot point under the ground level allowing a natural trajectory for the center of pressure (CoP), like in human walking. The influence of the vertical position of the pivot point on energy consumption is analyzed here. The evaluation of a 3D Walking gait is based on the energy consumption. A sthenic criterion is used to depict this evaluation. A consequent reduction of joint torques is shown with a pivot point under the ground.
topic Inverted pendulum
pivot point
walking robots
energy consumption
joint torques
url http://www.degruyter.com/view/j/meceng.2016.63.issue-2/meceng-2016-0014/meceng-2016-0014.xml?format=INT
work_keys_str_mv AT omransahab usingthegeneralizedinvertedpendulumtogeneratelessenergyconsumingtrajectoriesforhumanoidwalking
AT sakkasophie usingthegeneralizedinvertedpendulumtogeneratelessenergyconsumingtrajectoriesforhumanoidwalking
AT aoustinyannick usingthegeneralizedinvertedpendulumtogeneratelessenergyconsumingtrajectoriesforhumanoidwalking
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