Energy Efficient Bipedal Locomotion

Hasaneini, Seyed Javad

Energy Efficient Bipedal Locomotion

atmire.migration.oldid	1854
dc.contributor.advisor	Macnab, Chris
dc.contributor.advisor	Bertram, John
dc.contributor.advisor	Leung, Henry
dc.contributor.author	Hasaneini, Seyed Javad
dc.date.accessioned	2014-01-30T21:22:57Z
dc.date.available	2014-03-15T07:00:21Z
dc.date.embargolift	2016-04-14T07:00:00Z
dc.date.issued	2014-01-30
dc.date.submitted	2014	en
dc.description.abstract	In this research, dynamic optimization of a minimally constrained bipedal model (free to exhibit almost any arbitrary gait) is used to find the characteristics of energy efficient gaits. I find that using a work-based cost yields gait optimization that automatically predicts many features of human locomotion. This includes the optimality of walking and running at their respective speeds. The results show the determinant energetic factors are: (i) the cost of stance-leg work to make up for energy loss during downward-to-upward redirection of body motion at each step; and (ii) the cost to move the swing leg forward and prepare it for support transfer. To minimize the net energetic cost, the calculations discover various strategies. For energy-effective walking the critical control actions are identified as: (i) a burst extension force along the support leg just before heel-strike; (ii) a burst hip torque at the start of leg-swing to accelerate the swing leg motion; and (iii) a decelerating burst torque at the end of swing to reduce foot velocity at landing, leading to less energy loss at support transfer between the legs. The burst hip torques at the beginning and end of the swing phase are also used in energy-efficient running. However, exploiting an extension force before heel-strike is not possible in running as there is no support leg during flight. Instead, energy-loss at heel-strike can be minimized by landing on a near-vertical leg. Swing-leg retraction in walking is also investigated in depth. The approach focuses on simple closed-form analytic solutions. The three principal control actions identified in my gait optimizations are replaced by impulsive forces and torques. With this simplified model it was shown analytically that: (i) it is energetically favorable to delay the retracting hip torque until the end of the pre-emptive push-off; (ii) swing-leg retraction torque reduces the push-off force; and also (iii) increases the maximum possible walking speed; and (iv) the energetic advantage of active swing-leg retraction depends on the step length, average walking speed, ratio of actuator efficiencies for positive and negative work, and percentage of active work done during heel-strike.	en_US
dc.identifier.citation	Hasaneini, S. J. (2014). Energy Efficient Bipedal Locomotion (Doctoral thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/25886	en_US
dc.identifier.doi	http://dx.doi.org/10.11575/PRISM/25886
dc.identifier.uri	http://hdl.handle.net/11023/1351
dc.language.iso	eng
dc.publisher.faculty	Graduate Studies
dc.publisher.institution	University of Calgary	en
dc.publisher.place	Calgary	en
dc.rights	University of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subject	Computer Science
dc.subject	Robotics
dc.subject.classification	legged locomotion	en_US
dc.subject.classification	Efficiency	en_US
dc.subject.classification	Optimization	en_US
dc.subject.classification	swing leg retraction	en_US
dc.subject.classification	walking	en_US
dc.title	Energy Efficient Bipedal Locomotion
dc.type	doctoral thesis
thesis.degree.discipline	Electrical and Computer Engineering
thesis.degree.grantor	University of Calgary
thesis.degree.name	Doctor of Philosophy (PhD)
ucalgary.item.requestcopy	true