On optimal swinging of the biped arms

被引：8

作者：

Aoustin, Y. ^{[1
]}

Formal'skii, A. M. ^{[2
]}

机构：

[1] Univ Nantes, Ecole Cent Nantes, IRCCyN, UMR 6597, F-44035 Nantes, France

[2] Moscow MV Lomonosov State Univ, Inst Mech, Moscow 119192, Russia

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4650725

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A ballistic walking gait is designed for a planar biped with two identical two-link legs, a trunk and two one-link arms. This seven-link biped is controlled via impulsive torques at the instantaneous double support to obtain a cyclic gait. These impulsive torques are applied in six inter-link joints. Then infinity of solutions exists to find the impulsive torques. An energy cost functional of these impulsive torques is calculated to choose a unique solution by its minimization. Numerical results show that for a given time period of the walking gait step and a length of the step, there exists an optimal swinging amplitude of arms. For this optimal motion of the arms, mentioned above cost functional is minimum.

引用

页码：2922 / +

页数：2

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