Optimal energy consumption of a biped robotfor crossing a wide ditch

Mahato, Uttam Kumar and R, Prasanth Kumar (2017) Optimal energy consumption of a biped robotfor crossing a wide ditch. Masters thesis, Indian Insitute of Technology Hyderabad.

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Abstract

Optimization is the making best out of available resources. Fo r a biped, cross ing a wide ditch is a difficult task. Wide ditch means the width of the ditch should be equal to or greater than the leg length. In our case the length of the leg of the biped is 1.05 meter. The biped possesses five degree of freedom. Equation s of motion for a biped has been derived in body coordinate formulation. For optimization genetic algorithm optimization is used. Genetic algorithm optimization is a search method which gives optimum input value and optimum output value based on some guess value if requir ed so. The result s desired are based on variables obtained from control constraints responsible for crossing the ditch. More the number of variable s more expensive the problem will become. In order to reduce the number of variable s , the body coordinate for mulation has been converted into joint coordinate formulation. The center of mass (COM) is exactly above the ankle of the biped making. There is no variation of COM in y direction (one of the control constraint) while crossing the ditch. The motor torque a nd rpm required to cross t he wide ditch have been observed to be minimum and thus are optimal values. The biped is able to cross 9 out of 16 cases taken in four equal intervals in each knee and torso angle s . The results are found to be better and reaso nable than conventional method s of optimization.

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