EFFECTS OF THE VERTICAL CoM MOTION ON ENERGY CONSUMPTION FOR WALKING HUMANOIDS

S Omran (1) , S Sakka (1, 2) , Y 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 motion of the CoM during humanoid walking. The linear inverted pendulum (LIP) model is classically used to deal with humanoid balance during walking. The effects on energy consumption of the CoM height remaining constant for humanoid robots, or varying like human beings, are badly known and are studied here. Two approaches are introduced for the comparison: the LIP which offers the great advantage of analytical solving (i.e. fast and easy calculations), and a numerical solving of the IP dynamics, which allows varying the height of the center of mass during walking. The results are compared in a dynamics simulation of the humanoid robot ROMEO (Aldebaran Robotics).

Mots clés: humanoid; dynamics; inverted pendulum; numerical resolution; en-ergy consumption; CoM vertical displacement; walking

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

S Omran, S Sakka, Y Aoustin. EFFECTS OF THE VERTICAL CoM MOTION ON ENERGY CONSUMPTION FOR WALKING HUMANOIDS. 17th International Confer ence on Climbing and Walking Robots (CLAWAR), Jul 2014, Poznan, Poland. ⟨10.1142/9789814623353_0040⟩. ⟨hal-01199826⟩