Optimization of the Power Consumption for the Biped Robots in a Single Support Phase

Abstract

Robots have to be able to move on different surfaces while ensuring the motion feasibility. One of the issues that have always attracted the attention of researchers in this field is optimization of power consumption along with maximum stability during the motion. Lots of basic gait parameters can be expressed by a planned seven-linked bipedal robot. In this study, parameter optimization being used in order to optimize the problem of motion obtained in a way that maximizing stability of robot and minimizing energy and also preserving its stability. Zero moment point scale is being used to calculate the stability of a robot. Experimental tests were performed for motion analysis of walking correctly and the results were validated. Finally, due to the presented model and optimized issue and predicted path, the robot can move like a person in a way that has maximum stability along with minimum power consumption. Comparison of experimental results versus presented model was used in each step to validate the accuracy of the proposed method.