Energy-efficient reference walking trajectory generation using allowable ZMP (Zero Moment Point) region for biped robots

被引：0

作者：

Shin H.-K. ^{[1
]}

Kim B.K. ^{[1
]}

机构：

[1] Korea Advanced Institutes of Science and Technology, Korea, Republic of

来源：

Journal of Institute of Control, Robotics and Systems | 2011年 / 17卷 / 10期

关键词：

Bipedal walking; Footstep planning; Reference gait generation; Variable ZMP;

D O I：

10.5302/J.ICROS.2011.17.10.1029

中图分类号：

学科分类号：

摘要：

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reducethe consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight aunit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D bipedrobot model to verify the effectiveness of the proposed method. © ICROS 2011.

引用

页码：1029 / 1036

页数：7

共 24 条

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