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Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking

Author

Listed:
  • Josué Nathán Martínez-Castelán

    (Mecatronic Section, Postgraduate Department, Instituto Politécnico Nacional, CIDETEC, Mexico City 07700, Mexico
    These authors contributed equally to this work.)

  • Miguel Gabriel Villarreal-Cervantes

    (Mecatronic Section, Postgraduate Department, Instituto Politécnico Nacional, CIDETEC, Mexico City 07700, Mexico
    These authors contributed equally to this work.)

Abstract

The design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design approach is proposed to simultaneously obtain the optimal structural description, the torque magnitudes, and the on/off time intervals for the control signal input of a semi-passive bipedal robot. The proposed approach takes advantage of the natural dynamics of the system and the control signal activation/deactivation for generating stable gait cycles with minimum energy consumption. Consequently, the passive features of the semi-passive bipedal robot are included in the integrated structure-control design process through evaluating the system behavior along consecutive passive and semi-passive walking stages. Then, the proposed design approach is formulated as a nonlinear discontinuous dynamic optimization problem, where the solution search is carried out using the differential evolution algorithm due to the discontinuities of the semi-passive bipedal robot dynamics. The results of the proposal are compared with those obtained by a sequential design process. The integrated structure-control design achieves a reduction of 63.55 % in the value of the performance function related to the synergy between the walking capability and energetic efficiency, with a reduction in the activation of the control and its magnitude of 95.41 % .

Suggested Citation

  • Josué Nathán Martínez-Castelán & Miguel Gabriel Villarreal-Cervantes, 2021. "Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking," Mathematics, MDPI, vol. 9(13), pages 1-26, June.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:13:p:1482-:d:581231
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    References listed on IDEAS

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    1. Miguel G. Villarreal-Cervantes, 2017. "Approximate and Widespread Pareto Solutions in the Structure-Control Design of Mechatronic Systems," Journal of Optimization Theory and Applications, Springer, vol. 173(2), pages 628-657, May.
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