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

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

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

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 analyzed here. The evaluation of a 3D Walking gait is based on the energy consumption. A sthenic criterion is used to depict this evaluation. A consequent reduction of joint torques is shown with a pivot point under the ground.

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

Domaines: Robotique [cs.RO]

Sahab Omran, Sophie Sakka, Yannick Aoustin. Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking. Archives of civil and mechanical engineering, 2016. ⟨hal-01306836⟩