Optimal locomotion trajectory for biped robot 'D-2' with knees stretched, heel-contact landings, and toe-off liftoffs
DC Field | Value | Language |
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dc.contributor.author | Park, Jong Hyeon | - |
dc.contributor.author | Chung, Seunghyun | - |
dc.date.accessioned | 2022-07-16T17:51:44Z | - |
dc.date.available | 2022-07-16T17:51:44Z | - |
dc.date.created | 2021-05-12 | - |
dc.date.issued | 2011-12 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/166965 | - |
dc.description.abstract | Most of the current biped robots with active revolute joints walk with their knees bent while a human walks without bending his or her knees in "natural" gaits. This paper proposes a method to generate natural locomotion trajectory for biped robots without bending knees based on a 2-DOF model of an inverted pendulum. In addition to the natural leg motion, this paper proposes a foot trajectory that has heel-contact landing and toe-off liftoff phases similar to the human foot. The trajectory is parameterized and optimized with a genetic algorithm based on energy consumption. In simulation of locomotion of biped robot, D-2, which has a double deck structure of parallel mechanisms, the resulting trajectory looks natural and requires approximately 28% less energy than the one generated by the LIPM method. In addition to proposing the method to generate trajectory for a biped robot, this paper introduces the mechanism of serially linked parallel-mechanism for a biped robot with knees. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.title | Optimal locomotion trajectory for biped robot 'D-2' with knees stretched, heel-contact landings, and toe-off liftoffs | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1007/s12206-011-0918-6 | - |
dc.identifier.scopusid | 2-s2.0-84865608535 | - |
dc.identifier.wosid | 000298014600030 | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.25, no.12, pp.3231 - 3241 | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 25 | - |
dc.citation.number | 12 | - |
dc.citation.startPage | 3231 | - |
dc.citation.endPage | 3241 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001602852 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | WALKING | - |
dc.subject.keywordPlus | GENERATION | - |
dc.subject.keywordPlus | ROTATION | - |
dc.subject.keywordAuthor | Biped robot | - |
dc.subject.keywordAuthor | Heel-contact | - |
dc.subject.keywordAuthor | Knee stretched | - |
dc.subject.keywordAuthor | Locomotion | - |
dc.subject.keywordAuthor | Toe-off | - |
dc.subject.keywordAuthor | ZMP (zero moment point) | - |
dc.identifier.url | https://link.springer.com/article/10.1007%2Fs12206-011-0918-6 | - |
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