Title :
Optimization based gait pattern generation for a biped robot
Author :
Buschmann, Thomas ; Lohmeier, Sebastian ; Ulbrich, Heinz ; Pfeiffer, Friedrich
Author_Institution :
Inst. of Appl. Mechanics, Technische Univ. Munchen, Munich
Abstract :
This paper addresses the problem of gait pattern generation for biped robots. A method based on nonlinear parameter optimization is proposed. Key features of the method are the trajectory description, optimization of only a subset of coordinates and the use of analytical, recursively calculated gradients for cost functions and constraints. The method has been used successfully to calculate walking trajectories for the 3D 17-DOF robot "Johnnie"
Keywords :
legged locomotion; nonlinear control systems; biped robot; gait pattern generation; nonlinear parameter optimization; Closed-form solution; Constraint optimization; Cost function; Drives; Error correction; Humans; Legged locomotion; Optimization methods; Orbital robotics; Robot kinematics;
Conference_Titel :
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Conference_Location :
Tsukuba
Print_ISBN :
0-7803-9320-1
DOI :
10.1109/ICHR.2005.1573552
