SUMMARYThe 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.

中文翻译：

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节能双足行走：从单质量模型到三质量模型

摘要本工作旨在通过采用三质量倒立摆模型（3MIPM）实现节能双足行走，并将其能量性能与线性倒立摆模型（LIPM）进行比较。为此，首先推导出质心 (CoM) 加速度的一般最优指数，用于能量成本评估。在定义等效零力矩点 (ZMP) 运动后，为 3MIPM 扩展了用于 CoM 生成的无约束优化方法，该方法可以跟踪不同的 ZMP 参考并解决高度变化。为了利用允许的 ZMP 运动，还采用了约束优化方法，有助于降低能源成本。仿人机器人的仿真和硬件实验表明，3MIPM 可以实现更高的能效。