Full Content is available to subscribers

Subscribe/Learn More  >

Energy-Conserving Gaits for Point-Foot Planar Bipeds: A Five-DOF Case Study

[+] Author Affiliations
Rouhollah Jafari, Louis L. Flynn, Ranjan Mukherjee

Michigan State University, East Lansing, MI

Aren Hellum

Naval Undersea Warfare Center Newport, Newport, RI

Paper No. DSCC2013-3723, pp. V001T10A001; 8 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


We propose a general method for designing energy-conserving gaits for point-foot planar bipeds. The method relies on satisfying specific boundary conditions for joint trajectories of the biped. These boundary conditions ensure that potential and kinetic energies of the biped are the same at the beginning and end of each step and there is no impact, i.e, no energy loss, at the time of swing-foot touchdown. The mechanical energy required by the gait over each step is therefore zero from the principle of work and energy. To illustrate the procedure for designing energy-conserving gaits, the proposed method is applied to a general five-dof biped.

Copyright © 2013 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In