Trajectory optimization of humanoid robots swinging leg

Z. Luo, Xuechao Chen, Zhangguo Yu, Qiang Huang, Libo Meng, Qingqing Li, Weimin Zhang, Wenjuan Guo, A. Ming
{"title":"Trajectory optimization of humanoid robots swinging leg","authors":"Z. Luo, Xuechao Chen, Zhangguo Yu, Qiang Huang, Libo Meng, Qingqing Li, Weimin Zhang, Wenjuan Guo, A. Ming","doi":"10.1109/HUMANOIDS.2017.8246898","DOIUrl":null,"url":null,"abstract":"Increased walking stability and energy efficiency are both important factors for enhancement of the performance of a biped robot. However, it is difficult to derive the optimal control law that is required using optimal control theory because of the strong nonlinearity and the strong coupling of the robot dynamics equation. Use of numerical methods is one effective way to design an optimal control law. This paper presents a method for optimization of the trajectory of a biped robot's swinging leg that is based on a Gaussian pseudospectral method. We first establish a Lagrange optimization function to optimize both the torque and speed during the walking process. By giving different weights to the torque and the speed, optimization of the different targets can be realized, and as a result, a reduction in the velocity can also change the amplitude of the joint motion fluctuations. The effectiveness of the proposed method is demonstrated via simulations and Experiments.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS.2017.8246898","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3

Abstract

Increased walking stability and energy efficiency are both important factors for enhancement of the performance of a biped robot. However, it is difficult to derive the optimal control law that is required using optimal control theory because of the strong nonlinearity and the strong coupling of the robot dynamics equation. Use of numerical methods is one effective way to design an optimal control law. This paper presents a method for optimization of the trajectory of a biped robot's swinging leg that is based on a Gaussian pseudospectral method. We first establish a Lagrange optimization function to optimize both the torque and speed during the walking process. By giving different weights to the torque and the speed, optimization of the different targets can be realized, and as a result, a reduction in the velocity can also change the amplitude of the joint motion fluctuations. The effectiveness of the proposed method is demonstrated via simulations and Experiments.
仿人机器人摆腿轨迹优化
提高行走稳定性和能量效率是提高双足机器人性能的重要因素。然而,由于机器人动力学方程具有很强的非线性和强耦合性,用最优控制理论推导出最优控制律是很困难的。采用数值方法设计最优控制律是一种有效的方法。提出了一种基于高斯伪谱法的两足机器人摆动腿轨迹优化方法。首先建立拉格朗日优化函数,对行走过程中的转矩和速度进行优化。通过赋予扭矩和速度不同的权重,可以实现对不同目标的优化,从而降低速度也可以改变关节运动波动的幅度。通过仿真和实验验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信