Optimization based gait pattern generation for a biped robot

被引：0
|
作者：
Buschmann, T [1 ]
Lohmeier, S [1 ]
Ulbrich, H [1 ]
Pfeiffer, F [1 ]
机构：
[1] Tech Univ Munich, Inst Appl Mech, D-8000 Munich, Germany
来源：
2005 5TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS | 2005年
关键词：
biped robots; gait pattern generation; optimization;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：98 / 103
页数：6
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