Energetically optimal gait transition velocities of a quadruped robot

Iris Shmuel, Raziel Riemer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Determining gait patterns with low energy consumption per distance traveled are important for increasing robots operation range. These gait patterns, a function of the robot's speed and structure, are generally determined by optimization processes. In contrast to previous studies that examined the energy consumption of several gait patterns at specific travel velocities, this study presents an optimization process that determines the optimal gait pattern for a range of velocities. In the first part of the study, three optimization methods are compared - The genetic algorithm, the radial-basis function method and the Nelder-Mead simplex. Results indicated that the preferred optimization method is genetic algorithm. In the second part of the study, we reduced the number of optimization variables, using constraints that represent known gait patterns. This led to a reduction of approximately 50% in optimization runtime, while maintaining similar energy consumption per distance as achieved in the first part of the study.

Original languageEnglish
Title of host publicationProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Pages2747-2752
Number of pages6
DOIs
StatePublished - 1 Dec 2013
Event2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
Duration: 13 Oct 201316 Oct 2013

Publication series

NameProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013

Conference

Conference2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Country/TerritoryUnited Kingdom
CityManchester
Period13/10/1316/10/13

Keywords

  • Dynamic gait
  • Energetic consumption
  • Gait transition
  • Genetic algorithm
  • Optimization
  • Quadruped robot

ASJC Scopus subject areas

  • Human-Computer Interaction

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