Optimal walking trajectories for a biped

C. Chevallereau, Y. Aoustin, A. Formal'sky
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引用次数: 12

Abstract

The objective of this study is to generate optimal gait cycles for the walking of a planar biped robot without an actuated ankle joint and four actuators. The evolution of four joint variables is assumed to be polynomial functions of the fourth order. The evolution of the other variable is deduced from the dynamic model of the biped. The coefficients of the polynomial functions are chosen to optimize the criteria and insure cyclic motion of the biped. The criteria chosen are maximal motion velocity, minimal torque, and minimal energy. These criteria are functions of some parameters, which define the configurations of the biped, its step length, and duration of the step. To minimize these functions means to find the optimal motion. Also, the optimal gait is defined with respect to given performances of actuators: the torques and velocities at the output of the gear are bounded. For this study, the physical parameters of a prototype are used.
两足动物的最佳行走轨迹
本研究的目的是产生一个平面双足机器人步行的最佳步态周期,没有驱动的踝关节和四个驱动器。假设四个联合变量的演化为四阶多项式函数。另一个变量的演化由两足动物的动力学模型推导出来。选取多项式函数的系数来优化准则,保证双足机器人的循环运动。选择的标准是最大运动速度,最小扭矩和最小能量。这些标准是一些参数的函数,这些参数定义了双足机器人的配置、步长和步长。最小化这些函数意味着找到最优运动。此外,根据给定的执行器性能定义了最优步态:齿轮输出端的扭矩和速度是有界的。在本研究中,使用了原型的物理参数。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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