Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots

This paper addresses parametric walking patterns and optimum design issues for an underactuated biped robot. The walking pattern is curved by impact postures and middle postures. Impact postures are regulated by two parameters and middle postures are selected to adapt the swing foot to negotiate obstacles. To evaluate constraint conditions, stability margins, and walking performances, some indices are defined, and the correlations between these indices and the two parameters are illustrated by the corresponding atlases. The optimum design method which considers multi-criteria is carried out by using these atlases. This method provides not only one optimum result, but also an optimum region which contains all feasible optimum results. Using these atlases presented in this paper one can obtain the optimum result with respect to any object(s)