Robot gait synthesis using the scheme of human motions skills development

被引：30

作者：

Zielinska, Teresa ^{[1
]}

Chew, Chee-Meng ^{[2
]}

Kryczka, Przemyslaw ^{[1
]}

Jargilo, Tomasz ^{[1
]}

机构：

[1] Warsaw Univ Technol, Inst Aeronaut & Appl Mech, PL-00665 Warsaw, Poland

[2] Natl Univ Singapore, Dept Mech Engn, MPE, Singapore 119260, Singapore

来源：

MECHANISM AND MACHINE THEORY | 2009年 / 44卷 / 03期

关键词：

Bipeds; Gait generation; Humanoidal robots; PATTERN GENERATOR; MATHEMATICAL-MODELS; SWIMMING PATTERN; WALKING; OSCILLATORS; LOCOMOTION; NETWORK; LAMPREY;

D O I：

10.1016/j.mechmachtheory.2008.09.007

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This work presents biologically inspired method of gait generation. Referring to the periodic signals generated by biological CPG, the coupled oscillators with correction functions are used to produce leg joint trajectories. The method of oscillators parameters evaluation using genetic algorithm is described. The correction functions are introduced. The gait formula suitable for real-time motion generation taking into account the positioning errors is given. Generated gait can be used as the basis for modi. cations to produce more complex motions. The problem of suitability of human gait for bipeds with body proportions different than that in human body is discussed. (c) 2008 Elsevier Ltd. All rights reserved.

引用

页码：541 / 558

页数：18

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