Energy-Efficient Trajectory Planning for Biped Walking Robot

Abstract

For the researches of biped walking robot, energy-efficiency is an important issue. We have proposed an optimal trajectory planning method based on a function approximation method, and applied it for 2D biped walking model. With this method, we obtained the solution of minimal square integration value of the input torque. Before that, this method only… (More)
DOI: 10.1109/ROBIO.2006.340283

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Cite this paper

@article{Huang2006EnergyEfficientTP, title={Energy-Efficient Trajectory Planning for Biped Walking Robot}, author={Qingjiu Huang and Takamasa Hase}, journal={2006 IEEE International Conference on Robotics and Biomimetics}, year={2006}, pages={648-653} }