Title: Modelling and optimised gait planning of biped robots with different leg mechanisms

Authors: Behnam Dadashzadeh; Akbar Allahverdizadeh; Mehdi Azhdarzadeh

Addresses: Department of Mechatronics Engineering, University of Tabriz, 29 Bahman Blvd., 5166616471, Tabriz, Iran ' Department of Mechatronics Engineering, University of Tabriz, 29 Bahman Blvd., 5166616471, Tabriz, Iran ' Department of Mechanical Engineering, University of Alberta, Edmonton, Alberta, T6G 1H9, Canada

Abstract: This research focuses on modelling and gait generation optimisation of four different real biped models that include practical extended models of the theoretical SLIP and compass gait as a novelty of the work. The first model is kneed biped model without spring that is a 5-rigid-link robot with four actuators in its hips and knees. The second model, kneed biped model with springs in shins is very similar to the first model, but its shins have linear springs. The third model is a semi-telescopic springy biped model and the fourth model is a semi-compass gait with kneed swing leg. Optimisation parameters of their walking gait, objective functions and constraints are presented and successive stages of optimisation are completed to find the optimal gaits. The efficiency of the gaits and required motor torques for the optimal gait of each model are illustrated.

Keywords: biped robot; walking; dynamic modelling; gait planning; optimisation; leg mechanism; kneed; semi-telescopic; semi-compass.

DOI: 10.1504/IJMIC.2021.120211

International Journal of Modelling, Identification and Control, 2021 Vol.37 No.2, pp.176 - 186

Received: 23 Sep 2020
Accepted: 06 Jan 2021
Published online: 11 Jan 2022 *

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