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Walking Trajectory Optimization With Rotation of the Feet for a Planar Bipedal Robot With Four-Bar Knees

[+] Author Affiliations
Arnaud Hamon, Yannick Aoustin

Université de Nantes, Nantes, France

Paper No. ESDA2012-82580, pp. 311-320; 10 pages
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4486-1
  • Copyright © 2012 by ASME


The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. We design walking reference trajectories with double support phases, single supports with a flat contact of the foot in the ground and single support phases with rotation of the foot around the toe. During the double support phase, both feet rotate. This phase is ended by an impact on the ground of the toe of one foot, the other foot taking off. The single support phase is ended by an impact of the swing foot heel, the other foot keeping contact with the ground through its toe. For both gaits, the reference trajectories of the rotational joints are prescribed by polynomial functions in time. A parametric optimization problem is presented for the determination of the parameters corresponding to the optimal cyclic walking gaits. The main contribution of this paper is the design of a dynamical stable walking gait with double support phases with feet rotation, impacts and single support phases for this novel bipedal robot.

Copyright © 2012 by ASME



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