Offline path planning, dynamic modeling and gait optimization of a 2D humanoid robot

Author

Sadedel, Majid ; Yousefi-Koma, Aghil ; Khadiv, Majid

Author_Institution

Center of Adv. Syst. & Technol. (CAST), Univ. of Tehran, Tehran, Iran

fYear

2014

fDate

15-17 Oct. 2014

Firstpage

131

Lastpage

136

Abstract

In this article, offline path planning for walking of a 2D humanoid robot with 6 Degrees of Freedom (DoF) is performed. This path planning is based on foot and hip trajectories. To make sure that walking cycle is stable, Zero Moment Point (ZMP) criterion is used. Full dynamic model of the humanoid robot in Single Support (SS) phase and Double Support (DS) phase are calculated by the use of Lagrange and Kane methods. By comparison of Lagrange and Kane methods, the dynamic model is verified. A Genetic Algorithm (GA) optimization of walking gait is proposed in which minimum energy consumption and maximum walking stability are two goal functions of this optimization. Finally the best stride length for each robot velocity is determined.

Keywords

genetic algorithms; humanoid robots; legged locomotion; path planning; robot dynamics; stability; 2D humanoid robot; 6 degrees of freedom; DS phase; DoF; GA optimization; Kane method; Lagrange method; SS phase; ZMP criterion; double support phase; dynamic modeling; energy consumption; gait optimization; genetic algorithm optimization; offline path planning; single support phase; walking cycle; walking gait; walking stability; zero moment point criterion; Equations; Hip; Joints; Legged locomotion; Mathematical model; Path planning; dynamic modeling; gait optimization; humanoid robot; offline path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on

Conference_Location

Tehran

Type

conf

DOI

10.1109/ICRoM.2014.6990889

Filename

6990889