Mechanical design optimization for a five-link walking bipedal robot

Abstract Hybrid zero dynamics is an established theoretical framework that allows to perform dynamic legged locomotion by enforcing virtual constraints through feedback controllers. One of the major functions of the framework is finding virtual constraints that result in the most efficient locomotion in terms of energy expenditure. This paper argues that the problem of reducing such transportation costs requires the optimization of mechanical parameters along with gait parameters. Our study showed that a simultaneous optimization of mechanical and gait parameters results, on average, in threefold reduction in the energy consumption for the whole range of achievable velocities.