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Optimal locomotion trajectory for biped robot 'D-2' with knees stretched, heel-contact landings, and toe-off liftoffs

Title
Optimal locomotion trajectory for biped robot 'D-2' with knees stretched, heel-contact landings, and toe-off liftoffs
Author
박종현
Keywords
Biped robot; Heel-contact; Knee stretched; Locomotion; Toe-off; ZMP (zero moment point)
Issue Date
2011-12
Publisher
KOREAN SOCIETY OF MECHANICAL ENGINEERS
Citation
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2011, 25(1), P.3231-3241
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, D2, 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.
URI
https://link.springer.com/article/10.1007/s12206-011-0918-6http://hdl.handle.net/20.500.11754/66847
ISSN
1738-494X
DOI
10.1007/s12206-011-0918-6
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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