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Optimization Dynamic Stability and Energy Efficiency in Human-Like Bipedal Robot Over a Full Gait Cycle

Authors :

Mahdi Sadeghi¹ Mostafa Rostami² Soroush Sadeghnejad³

1- دانشکده مهندسی پزشکی، دانشگاه صنعتی امیرکبیر (پلی‌تکنیک تهران)، تهران، ایران 2- دانشکده مهندسی پزشکی، دانشگاه صنعتی امیرکبیر (پلی‌تکنیک تهران)، تهران، ایران 3- دانشکده مهندسی پزشکی، دانشگاه صنعتی امیرکبیر (پلی‌تکنیک تهران)، تهران، ایران

Keywords :

Biped Robot،Gait Prediction،Zero Moment Point،Single Support Phase،Double Support Phase،witching Phase،Power Consumption Optimization

Abstract :

Bipedal robots are crucial for navigating uneven environments where wheeled robots are impractical. This study addresses the dual challenge of ensuring dynamic stability while minimizing energy consumption across a complete gait cycle, including the single support phase (SSP), double support phase (DSP), and switching phase. We developed a simplified 7-link, two-dimensional human model to reduce computational complexity. The optimization objective combined energy consumption and stability, which was maintained by keeping the zero-moment point (ZMP) within its allowable region. Using a two-point foot contact model, joint angles were defined as parametric functions to minimize energy use under kinematic constraints. Experimental human gait data provided initial values and validation for the optimization. Our results demonstrate that considering the complete gait cycle—including the transition phases—yields a distinct and more realistic optimal trajectory. While previous studies achieved a 9% energy reduction by optimizing only SSP and DSP, our simultaneous optimization of all three phases yielded a 3% reduction, a finding that more accurately reflects the system's dynamic limitations.