Simultaneous Optimization of a Convex Sole as a Foot and Hip Trajectory for a Biped Robot with an Ankle without an Additional Degree of Freedom

Document Type : Research Article

Authors

1 BMMS Lab., Mechanical Engineering Dpt., Yazd University

2 Faculty member / Mechanical Engineering Dpt., Yazd university

3 Faculty member / Mechanical engineering dpt., Yazd University

Abstract

Foot geometry greatly affects gait characteristics and it determinants. This research deals with analyzing gait when foot-ground contact occurs on a convex curve namely sole curve. Designing sole curve is also included in this work, targeting least energy consumption during walking on a flat ground. The famous point mass model has been improved to a model with a moving contact point on a convex sole without adding an extra degree of freedom. As the convex sole is added to the model, motion reconstruction is needed because of the effects of the model’s geometry on optimized gait cycle. Therefore, in this research, simultaneous optimization has been done to find the optimized sole shape and hip trajectory. To avoid high computational cost, optimization variables have been coded into vectors with limited dimensions and obtained by using particle swarm optimization and steepest descent algorithm together. Kinematic constraints and requirements of a continues, repetitive and symmetrical locomotion have been driven and satisfied during optimization. The results have been shown that optimization of the sole shape and hip trajectory has great effects on the cost function

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Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 52, Issue 12
March 2021
Pages 3383-3396

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