Title :
Generation of the optimal trajectory for the biped robot
Author :
Liu, Limei ; Li, Jianfei ; Tian, Yantao ; Yang, Yuhong
Author_Institution :
Sch. of Appl. Math., Jilin Univ. of Finance & Econ., Changchun, China
Abstract :
This paper proposes the methods of generation of the energy-efficient trajectory and the centroid trajectory for the biped robot. Based on the function approximation method, the energy-efficient trajectory between the initial state and the terminal state is generated by converting minimization of energy consuming to minimization of input torques. Reducing the biped robot to an inverted pendulum, the relationship between the energy and the centroid motion for the simplified model is analyzed. And the switch conditions for the stance leg are analyzed too. Then the continuous centriod trajectory can be obtained to avoid the forward or backward falling. Simulation results show that the methods proposed in this paper are valid.
Keywords :
approximation theory; legged locomotion; motion control; nonlinear control systems; optimal control; position control; backward falling; biped robot; centroid motion; centroid trajectory; energy efficient trajectory; function approximation method; inverted pendulum; optimal trajectory; switch conditions; Energy efficiency; Equations; Legged locomotion; Mathematical model; Switches; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723468