Optimized Motion Control for Energy-Efficient Bipedal Walking Robots
- Authors
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Harish Kasireddy
Author
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- Keywords:
- Control Co-Design, Bipedal Walking Robots, Compass Gait Model, Energy-Efficient Locomotion, Trajectory Optimization, Underactuated Robotic Systems
- Abstract
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This study explores a novel control optimization framework for bipedal robotic locomotion, focusing on energy efficiency and stability. Using a control co-design (CCD) approach, the system simultaneously optimizes mechanical parameters and control strategies to enhance gait efficiency. Within the simulation scope considered, the proposed method reduces torque demands and cycle time and yields stable walking over the simulated cycles for the reported initial conditions. Simulation results demonstrate a reduction in control effort over ten walking cycles while maintaining dynamic balance in the simulated cases, highlighting the potential of integrated design strategies in robotic walking systems.
- References
- Cover Image
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- Downloads
- Published
- 2026-10-31
- Issue
- Vol. 1 No. 6 (2026)
- Section
- Articles
- License
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Copyright (c) 2026 International Journal of Intelligent Systems and Data Science
This work is licensed under a Creative Commons Attribution 4.0 International License.
