Energy optimization with multi virtual gravity for robotic gait

Although people's legs are capable of a broad range of muscle-use and gait patterns, they generally prefer just two, walking and running. A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed. An energy-effective gait is designed based on the mechanism of passive dynamic walking using multi virtual gravity force method. At the same time, we have proposed optimized virtual passive and virtual coupling control laws. To keep the stability and guarantee the cost of muscle while biped robot walking, the guaranteed cost optimization problem of the system is investigated. And the 'Piecewise Torque With Multi Virtual Gravity' method is also used for comparison between the results of the different control strategies. We prove some walking rules maybe true by the results of simulations.