Inverse Dynamics Power Saving Control of Walking Machines
This work is motivated by the high power consumption of existing walking machines. The paper presents the combination of the inverse dynamics control technique with the passive walking principle for the model of an biped walking machine. For the compensation of the energy losses during walking the method of inverse dynamics control is applied which generates the walking motion according to preprogrammed nominal trajectories of legs and body. The trajectories are generated according to passive dynamic gait cycles of a passive model. The simulation results show that the power consumption for walking with this approach is very low compared to other machines.
KeywordsContact Force Multibody System Humanoid Robot Inverse Dynamic Zero Moment Point
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