The effectiveness of control plan on reducing humanoid gait energy

This paper considers the immense differences between the joint work and the mechanical body energy during the humanoid biped gait cycle. A significant amount of energy dissipates due to inelastic collision and mainly inefficient control during the gait cycle. The goal of this research is to investigate the role of control strategy on reducing input energy during the gait cycle. For this purpose, a biped model based on anthropometric data of human is developed to simulate human walking. The total energy in humanoid biped including the kinetic energy of all segments in translation and rotation as well as potential energy are measured and calculated using Visual Nastran and Matlab software packages. The total energy in the biped is compared with the total external power exerted by the controller during walking. Two control strategies in swing phase, closed-loop PID and open-loop fuzzy logic controllers without and with energy storage device, for the same trajectory are investigated, and the latter has been found to reduce the input energy significantly.