Optimal locomotion trajectory for biped robot 'D-2' with knees stretched, heel-contact landings, and toe-off liftoffs
- Authors
- Park, Jong Hyeon; Chung, Seunghyun
- Issue Date
- Dec-2011
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Keywords
- Biped robot; Heel-contact; Knee stretched; Locomotion; Toe-off; ZMP (zero moment point)
- Citation
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.25, no.12, pp.3231 - 3241
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
- Volume
- 25
- Number
- 12
- Start Page
- 3231
- End Page
- 3241
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/166965
- DOI
- 10.1007/s12206-011-0918-6
- ISSN
- 1738-494X
- 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.
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