Optimal trajectory generation for biped robots walking up-and-down stairs
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kwon, Ohung | - |
dc.contributor.author | Jeon, Kweon Soo | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2022-12-21T11:36:39Z | - |
dc.date.available | 2022-12-21T11:36:39Z | - |
dc.date.created | 2022-08-26 | - |
dc.date.issued | 2006-05 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/181548 | - |
dc.description.abstract | This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.title | Optimal trajectory generation for biped robots walking up-and-down stairs | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1007/BF02915978 | - |
dc.identifier.scopusid | 2-s2.0-33748297424 | - |
dc.identifier.wosid | 000237573500004 | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.20, no.5, pp.612 - 620 | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 20 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 612 | - |
dc.citation.endPage | 620 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
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 | MODEL | - |
dc.subject.keywordAuthor | biped robot | - |
dc.subject.keywordAuthor | optimal trajectory | - |
dc.subject.keywordAuthor | genetic algorithm | - |
dc.subject.keywordAuthor | stairs | - |
dc.subject.keywordAuthor | constraints | - |
dc.subject.keywordAuthor | energy efficiency | - |
dc.identifier.url | https://link.springer.com/article/10.1007/BF02915978 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.