Verification of Mechanical Improvement for Bipedal Robot Walking

Abstract

In this paper, we verify an improvement of the bipedal robot's locomotion by equipping with mechanical modular devices. We assumed that the robot model consists of five rigid links in sagittal plane, and the robot is assumed to be fully-actuated. The walking gait and the optimal parameters of the devices for the biped model are calculated by the method of trajectory optimization, and the performance of the gait is evaluated by Cost of Transport, which indicates the walking efficiency. We compare the performance of the devised robot model's gait with a nominal five-link model's one with numerical simulation.