Energy-efficient trajectory planning for biped walking robot

被引：2

作者：

Huang, Qingjiu ^{[1
]}

Hase, Takamasa ^{[1
]}

机构：

[1] Tokyo Inst Technol, Grad Sch Sci & Engn, Dept Mech & Control Engn, Meguro Ku, 2-12-1-13-11 Ookayama, Tokyo 152, Japan

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年

关键词：

biped walking robot; optimal trajectory planning; function approximation; inequality state constraint; walking experiment;

D O I：

10.1109/ROBIO.2006.340283

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For the researches of biped walking robot, energy-efficiency is an important issue. We have proposed an optimal trajectory planning method based on a function approximation method, and applied it for 2D biped walking model. With this method, we obtained the solution of minimal square integration value of the input torque. Before that, this method only includes equality state constraint, but in this paper, also includes inequality state constraint to restrict the range of joint angle. In addition, we performed the walking experiment to verify the effectiveness of this method. We realized the stable walking of 0.6s period and 0.3m/s. Finally, we evaluated the energy-efficiency by Specific Cost.

引用

页码：648 / +

页数：2

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