Energy-Efficiency-Based Gait Control System Architecture and Algorithm for Biped Robots

被引：27

作者：

Liu, Zhi ^{[1
]}

Wang, Liyang ^{[1
]}

Chen, C. L. Philip ^{[2
,3
]}

Zeng, Xiaojie ^{[1
]}

Zhang, Yun ^{[1
]}

Wang, Yaonan ^{[4
]}

机构：

[1] Guangdong Univ Technol, Fac Automat, Guangzhou 510006, Guangdong, Peoples R China

[2] Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China

[3] Univ Texas San Antonio, San Antonio, TX 78249 USA

[4] Hunan Univ, Dept Elect Engn, Changsha 410082, Hunan, Peoples R China

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS | 2012年 / 42卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Biped robot; energy efficiency; gait control; zero-moment point (ZMP); HUMANOID ROBOT; WALKING; GENERATION; LOCOMOTION; STABILITY; MOTION; ZMP;

D O I：

10.1109/TSMCC.2011.2173191

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A novel systematic architecture and algorithm of gait control based on energy-efficiency optimization is represented, aiming at the fatal problem of high energy consumption for biped robots walking in unstructured environments. By designing an optimal controller to minimize the energy criterion, the proposed method provides a remarkable descend rate of energy consumption in the trunk-rotation walking mechanism. The proposed algorithm is able to optimize the trunk trajectory by minimizing the energy-related cost function while guaranteeing zero-moment point (ZMP) criterion. Simulations and experimental results show the validity of the method.

引用

页码：926 / 933

页数：8

共 45 条

[1] Biped gait generation and control based on a unified property of passive dynamic walking
Asano, F
Luo, ZW
Yamakita, M
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (04) : 754 - 762
[2] Virtual gravity and coupling control for robotic gait synthesis
Asano, F
Yamakita, M
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 2001, 31 (06): : 737 - 745
[3] Energy-Efficient and High-speed Dynamic Biped Locomotion Based on Principle of Parametric Excitation
Asano, Fumihiko
Luo, Zhi-Wei
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2008, 24 (06) : 1289 - 1301
[4] Braun David J., 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009), P237, DOI 10.1109/ICHR.2009.5379573
[5] A Controller for Dynamic Walking in Bipedal Robots
Braun, David J.
Goldfarb, Michael
[J]. 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 2916 - 2921
[6] A Control Approach for Actuated Dynamic Walking in Biped Robots
Braun, David J.
Goldfarb, Michael
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2009, 25 (06) : 1292 - 1303
[7] Chessé S, 2001, IEEE INT CONF ROBOT, P2499, DOI 10.1109/ROBOT.2001.932998
[8] Optimal reference trajectories for walking and running of a biped robot
Chevallereau, C
Aoustin, Y
[J]. ROBOTICA, 2001, 19 (05) : 557 - 569
[9] Posture/walking control for humanoid robot based on kinematic resolution of CoM Jacobian with embedded motion
Choi, Youngjin
Kim, Doilk
Oh, Yonghwan
You, Bum-Jae
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (06) : 1285 - 1293
[10] An uncontrolled walking toy that cannot stand still
Coleman, MJ
Ruina, A
[J]. PHYSICAL REVIEW LETTERS, 1998, 80 (16) : 3658 - 3661

← 1 2 3 4 5 →