Legged mechanism design with momentum gains

Brandon J. DeHart, Dana Kulic

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1 Citation (Scopus)


There are two main goals for any mobile, bipedal system: locomotion and balance. These behaviors both require the biped to effectively move its center of mass (COM). In this work, we define an optimization framework which can be used to design a biped that maximizes its ability to move its COM, without having to define an associated controller or trajectory. We use angular momentum gain in our objective function, a measure of how efficiently a system can move its COM based on its physical properties. As a comparison, we also optimize the model using a cost of transport-based objective function over a set of trajectories and show that it provides similar results. However, the cost of transport calculation requires slow hybrid dynamics equations and hand-designed trajectories, whereas the angular momentum gain calculation requires only the joint space inertia matrix at each configuration of interest.

Original languageEnglish
Title of host publication2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017)
EditorsDana Kulic, Jun Morimoto, Jan Peters
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781538646786, 9781538646779
ISBN (Print)9781538646793
Publication statusPublished - 22 Dec 2017
Externally publishedYes
EventIEEE-RAS International Conference on Humanoid Robots 2017 - Birmingham, United Kingdom
Duration: 15 Nov 201717 Nov 2017
Conference number: 17th

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580


ConferenceIEEE-RAS International Conference on Humanoid Robots 2017
Abbreviated titleHumanoids 2017
CountryUnited Kingdom

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