Optimal trajectory generation for biped robots walking up-and-down stairs
- Authors
- Kwon, Ohung; Jeon, Kweon Soo; Park, Jong Hyeon
- Issue Date
- May-2006
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Keywords
- biped robot; optimal trajectory; genetic algorithm; stairs; constraints; energy efficiency
- Citation
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.20, no.5, pp.612 - 620
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
- Volume
- 20
- Number
- 5
- Start Page
- 612
- End Page
- 620
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/181548
- DOI
- 10.1007/BF02915978
- ISSN
- 1738-494X
- 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.
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