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Energy-Efficient Bipedal Gait Pattern Generation via CoM Acceleration Optimization

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Figure

Fig. 1: Flowchart for energetic cost optimization.
Fig. 2: LIPM motion during one UEWC, SSPpre ends at time ti,SSPpost begins at time tf, T is the time duration of one UEWC.
Fig. 5: LIPM motion with CoMHV: the vertical CoM motiondepends merely on two parameters Zc and hmax.
Fig. 6: Reference/actual trajectories of bipedal walking with usingparabolic reference ZMP with fixed step length, the solid rectanglesrepresent the left foot while dash-dot the right.

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