3D Walking Biped: Optimal Swing of the Arms
Résumé
A ballistic walking gait is designed for a 3D biped with two identical two-link legs, a torso, and two identical one-link arms. In the single support phase, the biped moves due to the existence of a momentum, produced mechanically, without applying active torques in the inter-link joints. This biped is controlled with impulsive torques at the instantaneous double support to obtain a cyclic gait. The impulsive torques are applied in the seven inter-link joints. Then an infinity of solutions exists to find the impulsive torques. An effort cost functional of these impulsive torques is minimized to determine a unique solution. Numerical results show that for a given time period and a given length of the walking gait step, there is an optimal swinging amplitude of the arms. For this optimal motion of the arms, the cost functional is minimum.
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