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Walking pattern modification using manipulability ellipsoid for biped robot

This paper suggests the new approach for reducing energy consumption during the walking cycle of the biped robot. After the stable walking trajectory is manually designed, the trajectory can be modified to reduce the energy consumption and increase walking stability based on the measured angular velocities of the robot during the walk combined with the dexterity information from the manipulability ellipsoid. The modified trajectory was tested on the biped robot and compared to the original trajectory. The gyro sensor and the current sensor were used to measured angular velocity and energy consumption of the robot. The modified walking trajectory can successfully reduce the energy consumption and increase the stability of the robot during its walking cycle.