Journal
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
Volume 25, Issue 12, Pages 3231-3241Publisher
KOREAN SOC MECHANICAL ENGINEERS
DOI: 10.1007/s12206-011-0918-6
Keywords
Biped robot; Heel-contact; Knee stretched; Locomotion; Toe-off; ZMP (zero moment point)
Categories
Funding
- Korea Research Foundation
- Hanyang University
Ask authors/readers for more resources
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.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available