Optimization of the biped robot trajectory

Author

Shih, Ching-Long ; Zhu, Yun ; Gruver, William A.

Author_Institution

Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA

fYear

1991

fDate

13-16 Oct 1991

Firstpage

899

Abstract

The optimization of the biped walking trajectory is treated so that it can be used as a reference trajectory for control. The biped is modeled as a kinetic chain of 13 links connected by 12 joints. The inverse kinematics of the biped is derived for the specified positions of the body and feet. The objective is to optimize the location of the zero moment point (ZMP), which is the virtual total ground reaction point. Specifically, the authors minimize the deviation between the ZMP and the center of shape of the supporting area by treating the position of the body as free variables. A simulation of an optimal biped trajectory is presented to illustrate the proposed approach

Keywords

mobile robots; position control; biped robot trajectory; inverse kinematics; kinetic chain; reference trajectory; trajectory optimization; virtual total ground reaction point; zero moment point; Control systems; Gravity; Heuristic algorithms; Leg; Legged locomotion; Manufacturing systems; Robot kinematics; Robot sensing systems; Shape; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on

Conference_Location

Charlottesville, VA

Print_ISBN

0-7803-0233-8

Type

conf

DOI

10.1109/ICSMC.1991.169801

Filename

169801