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three-mass inverted pendulum model

Robotica (1)

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Energy-Efficient Bipedal Walking: From Single-Mass Model to Three-Mass Model
Jiatao Ding, Jiangchen Zhou, Zhao Guo, Xiaohui Xiao
Journal:

Robotica / Volume 39 / Issue 9 / September 2021

Published online by Cambridge University Press:

22 February 2021, pp. 1537-1559
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The work aims to realize energy-efficient bipedal walking by employing the three-mass inverted pendulum model (3MIPM) and compare its energy performance with linear inverted pendulum model (LIPM). To do this, a general optimal index on center of mass (CoM) acceleration is first derived for energetic cost evaluation. After defining the equivalent zero moment point (ZMP) motion, an unconstrained optimization approach for CoM generation is extended for 3MIPM, which can track different ZMP references and address the height variation as well. To make use of the allowable ZMP movement, a constrained optimization method is also employed, contributing to lower energetic cost. Simulation and hardware experiments on a humanoid robot demonstrate that the 3MIPM could achieve higher energy efficiency.