DERIVATION OF OPTIMAL WALKING MOTIONS FOR A BIPEDAL WALKING ROBOT

被引：110

作者：

CHANNON, PH

HOPKINS, SH

PHAM, DT

机构：

[1] Intelligent Systems Research Group, School of Electrical, Electronic and Systems Engineering, Cardiff, Wales, CF1 3YH

来源：

ROBOTICA | 1992年 / 10卷

关键词：

BIPEDAL ROBOT; GAIT OPTIMIZATION; OPTIMAL MOTION; DYNAMIC MODEL;

D O I：

10.1017/S026357470000758X

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The problem of determining energy optimal walking motions for a bipedal walking robot is considered. A full dynamic model of a planar seven-link biped with feet is derived including the effects of impact of the feet with the ground. Motions of the hip and feet during a regular step are then modelled by 3rd order polynomials, the coefficients of which are obtained by numerically minimising an energy cost function. Results are given in the form of walking profiles and energy curves for the specific cases of motion over level ground, motion up and down an incline, and varying payload.

引用

页码：165 / 172

页数：8

共 9 条

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[2]

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[8]

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[9]

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