The problem of determining energy optimal walking motions for a bipedal walking robot is considered. A full dynamic model of a planar seven-link biped with feet is derived including the effects of impact of the feet with the ground. Motions of the hip and feet during a regular step are then modelled by 3rd order polynomials, the coefficients of which are obtained by numerically minimising an energy cost function. Results are given in the form of walking profiles and energy curves for the specific cases of motion over level ground, motion up and down an incline, and varying payload.

This paper presents a method for optimizing the walking motions of a planar five-link biped. The technique starts with non-linear kinematic and dynamic models for both the single-support and impact stages of motion. A variational technique is then used to derive joint trajectories that minimize a simple cost function. The resulting two-point boundary value problem is solved using a finite difference technique, with trajectories obtained from a simple linearized model as initial conditions. Families of optimal trajectories for different step periods and step lengths are presented.

This paper describes the mathematical and computer modelling of a photoelastic sensor for slip detection. The main components of the sensor are a photoelastic transducer and a solid state camera. When under stress, the photoelastic transducer generates optical fringe patterns which are captured digitally by the camera. The model developed encompasses the mechanical and optical behaviours of the photoelastic transducer and the switching characteristics of the camera pixels. The model has been employed to study the effects of different design parameters on the sensor's slip resolution.

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