Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

Author

Theeravithayangkura, Chayooth ; Takubo, Tomohito ; Ohara, Kenichi ; Mae, Yasushi ; Arai, Tamio

Author_Institution

Arai Lab., Osaka Univ., Toyonaka, Japan

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

148

Lastpage

153

Abstract

New inclined-plane motion for limb mechanism robot ASTERISK´s dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot´s center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.

Keywords

genetic algorithms; legged locomotion; momentum; motion control; position control; robot dynamics; Asterisk; Open Dynamic Engine; cart-table model; center of mass trajectory control; dynamic rotational walking motion; dynamic simulator; genetic algorithms; inclined-plane motion; isotropic leg arrangement; limb mechanism robot; posture optimization; preview control; resolved momentum control; stability; zero moment point; Dynamics; Joints; Leg; Legged locomotion; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5985647

Filename

5985647