For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing continuous families of locally optimal gaits with respect to a class of commonly used energetic cost functions (e.g., the integral of torque-squared). We compute these families using only the passive gaits of the biped, which are globally optimal gaits with respect to these cost functions. Our approach fills in an important gap in the literature when computing a library of locally optimal gaits, which often do not make use of these globally optimal solutions as seed values. We demonstrate our approach on a well-studied two-link biped model.

翻译：针对一类具有脉冲动力学且存在非空被动步态集合（即无驱动、周期性运动）的双足机器人模型，本文提出了一种方法，用于计算关于一类常用能量代价函数（如力矩平方积分）的连续局部最优步态族。我们仅利用双足机器人的被动步态（相对于这些代价函数属于全局最优步态）即可计算这些步态族。该方法填补了现有文献中计算局部最优步态库时，常未将此类全局最优解作为初始值的重要空白。我们通过一个经典的两连杆双足机器人模型验证了所提方法的有效性。