期刊
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
卷 6, 期 4, 页码 609-629出版社
WORLD SCIENTIFIC PUBL CO PTE LTD
DOI: 10.1142/S0219843609001905
关键词
Bipedal walking; genetic algorithm (GA); zero-moment-point (ZMP)
类别
This paper proposes a method of energy-efficient trajectory planning for bipedal walking robots. In this study, we plan hip and foot trajectories in Cartesian space using polynomial interpolation. The seven key parameters which de. ne the hip and foot trajectories are optimized by genetic algorithm (GA). Since the hip trajectory is crucial to the stability and walking performance of bipedal robot, we introduce a way to increase hip trajectory's variation by extending the order of the interpolated polynomial and using a set of key parameters. To ensure stable walking motion, we employ the zero-moment-point (ZMP) as the stability criterion. The effectiveness of our proposed method is verified by two simulation examples (flat terrain walking and slope walking) of a humanoid robot named NUSBIP-II.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据