The dynamic optimization approach to locomotion dynamics: human-like gaits from a minimally-constrained biped model

Hasaneini, S. Javad; Macnab, C.J.B.; Bertram, John E. A.; Leung, Henry

doi:10.1080/01691864.2013.791656

Cited by 37 publications

(47 citation statements)

References 11 publications

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“…This optimization procedure with 56 parameters requires extensive calculations and is likely to settle in a local minimum. Although it does not guarantee a global minimum, we did show our controller's applicability to stabilizing other biped running gaits that have been generated by a global optimization, for example in [27] and [30]. To stabilize those gaits, their variable torque profiles should be discretized as (32) to use the control law (30).…”

Section: Further Control Input Discretizationmentioning

confidence: 99%

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Compliant Leg Architectures and a Linear Control Strategy for the Stable Running of Planar Biped Robots

Dadashzadeh

Mahjoob

Bahrami

et al. 2013

International Journal of Advanced Robotic Systems

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This paper investigates two fundamental structures for biped robots and a control strategy to achieve stable biped running. The first biped structure contains straight legs with telescopic springs, and the second one contains knees with compliant elements in parallel with the motors. With both configurations we can use a standard linear discrete-time state-feedback control strategy to achieve an active periodic stable biped running gait, using the Poincare map of one complete step to produce the discrete-time model. In this case, the Poincare map describes an open-loop system with an unstable equilibrium, requiring a closedloop control for stabilization. The discretization contains a stance phase, a flight phase and a touch-down. In the first approach, the control signals remain constant during each phase, while in the second approach both phases are discretized into a number of constant-torque intervals, so that its formulation can be applied easily to stabilize any active biped running gait. Simulation results with both the straight-legged and the kneed biped model demonstrate stable gaits on both horizontal and inclined surfaces.

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Section: Further Control Input Discretizationmentioning

confidence: 99%

“…To investigate gait stability, consider the linearized Poincare map around the fixed point (26) or (27) as: …”

Section: Stabilizing Controllermentioning

confidence: 99%

Compliant Leg Architectures and a Linear Control Strategy for the Stable Running of Planar Biped Robots

Dadashzadeh

Mahjoob

Bahrami

et al. 2013

International Journal of Advanced Robotic Systems

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“…moving in such a way as to minimize the mechanical cost of transport (Hasaneini et al, 2011;Hasaneini et al, 2013) (Fig.3B). The relative simplicity of the model (in comparison to a biological system) allows a direct interpretation of the optimized behavior.…”

Section: Optimization Strategies In Walking and Running: An Examplementioning

confidence: 99%

“…Below 0.5g it becomes less costly to run than to walk. (B)The apparent metabolic cost of transport [apparent metabolic cost (as defined below) per unit body mass and distance traveled] for optimal (cost minimizing) gaits of a seven-link model (torso and two-link legs, each with feet) with human-like mass distribution, extensible legs and hip and ankle torque capability (Hasaneini et al, 2013). The model is free to select the actuation profiles, step length and frequency that minimize cost of transport.…”

Section: Optimization Strategies In Walking and Running: An Examplementioning

confidence: 99%

Neglected losses and key costs: tracking the energetics of walking and running

Bertram

Hasaneini

2013

Journal of Experimental Biology

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SummaryAs one of the most energetically demanding daily activities, locomotion has attracted substantial investigative attention. Although legged locomotion has been well described, it is currently not well understood. Looking at energy accounting might be a good pathway with which to solve this problem. One relatively simple way of analyzing energy management is to look directly at the flow of mechanical energy into and out of the system, in terms of costs and losses (with some attention to the mechanisms responsible for this flow). In this commentary we argue that a key source of energetic loss has largely been neglected: the redirection of body motion from downward to upward at each step. We discuss the role of this loss and the compensating energetic costs, identifying some of the general features of the trade-offs that determine gait optimization strategies. We find that even at a conceptual level, a focus on the main mechanism of loss and the strategies available to the organism to effectively compensate for losses can yield substantial insight into observations as diverse as the functional limits of a playground swing through to the strikingly different effect of reduced gravity on human walking and running. Such insight changes the interpretation of fundamental features of leg function, such as push-off timing and the role of elastic deflection during stance.

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“…3,4 The development of vehicles that copy movements from animals is of major interest in robotics. 5 As a result, a wide variety of refined designs have been proposed. 6 Pfeifer and Bongard explain how the new robotics employ ideas and principles from biology (biomechanical studies).…”

Section: Introductionmentioning

confidence: 99%

Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

Corral

Alonso

Gómez

et al. 2018

International Journal of Advanced Robotic Systems

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The goal of this article is to design a navigation algorithm to improve the capabilities of an all-terrain unmanned ground vehicle by optimizing its configuration (the angles between its legs and its body) for a given track profile function. The track profile function can be defined either by numerical equations or by points. The angles between the body and the legs can be varied in order to improve the adaptation to the ground profiles. A new dynamic model of an all-terrain vehicle for unstructured environments has been presented. The model is based on a half-vehicle and a quasi-static approach and relates the dynamic variables of interest for navigation with the topology of the mechanism. The algorithm has been created using a simple equation system. This is an advantage over other algorithms with more complex equations which need more time to be calculated. Additionally, it is possible to optimize to any ground-track-profile of any terrain. In order to prove the soundness of the algorithm developed, some results of different applications have been presented.

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The dynamic optimization approach to locomotion dynamics: human-like gaits from a minimally-constrained biped model

Cited by 37 publications

References 11 publications

Compliant Leg Architectures and a Linear Control Strategy for the Stable Running of Planar Biped Robots

Compliant Leg Architectures and a Linear Control Strategy for the Stable Running of Planar Biped Robots

Neglected losses and key costs: tracking the energetics of walking and running

Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

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