Optimal walking gait with double support, simple support and impact for a bipedal robot equipped of four-bar knees

Arnaud Hamon (1) , Yannick Aoustin (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. n previous a work, we have proved a bipedal robot with four-bar knees has a less energy consumption than a bipedal robot equipped of revolute knee joints for walking gates composed of single support phases separated by impulsive impact. Our objective in this work is to extend this result for walking motion which included double support phase with a feet rotation.

Domaines: Automatique / Robotique

Arnaud Hamon, Yannick Aoustin. Optimal walking gait with double support, simple support and impact for a bipedal robot equipped of four-bar knees. The Second Joint International Conference on Multibody System Dynamics, May 2012, Stuttgart, Germany. ⟨hal-00668766⟩