Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking

Sahab Omran (1) , Sophie Sakka (1, 2) , Yannick Aoustin (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 UP - Université de Poitiers = University of Poitiers

This paper proposes an analysis of the effect of vertical position of the pivot point of the inverted pendulum during humanoid walking. We introduce a new feature of the inverted pendulum by taking a pivot point under the ground level allowing a natural trajectory for the center of pressure (CoP), like in human walking. The influence of the vertical position of the pivot point on energy consumption is analysed here. The evaluation of the energy consumption is done using a sthenic criterion in a 3D dynamics simulation of the humanoid robot ROMEO (Aldebaran Robotics) and shows a consequent reduction of the robot torque solicitation with a pivot point under the ground.

Mots clés: Inverted pendulum; pivot point; walking robots; energy consumption; joint torques

Domaines: Automatique / Robotique

Sahab Omran, Sophie Sakka, Yannick Aoustin. Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking. ECCOMAS Thematic Conference on Multibody Dynamics, Jun 2015, Barcelona, Spain. ⟨hal-01199819⟩