Title :
Gait design and optimization of a new limb robot
Author :
Fan, Jizhuang ; Yan, Jihong ; Zhao, Jie
Author_Institution :
Sch. of Electr. Eng. & Autom., Harbin Inst. of Technol., Harbin, China
Abstract :
A new type of integration robot of arm and leg has been developed. Its cross gait of walking quickly on the barrier-free road was designed and planned. Gait optimization algorithm based on the energetic optimum was put forward, which can optimize the robot cross gait, and get the corresponding optimization parameters of walking gait. The simulation results show that the robot has the very good exercise continuity and stability on the basis of low energy consumption when it adopts the optimized cross gait.
Keywords :
control system synthesis; gait analysis; legged locomotion; optimisation; stability; barrier-free road; gait design; integration robot; low energy consumption; new limb robot; optimization; stability; Foot; Joints; Legged locomotion; Optimization; Roads; Robot kinematics; Gait optimization; Gait planning; Limb robot; Simulation;
Conference_Titel :
Information and Automation (ICIA), 2012 International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4673-2238-6
Electronic_ISBN :
978-1-4673-2236-2
DOI :
10.1109/ICInfA.2012.6246821
