Abstract
This paper addresses a gait generation problem for the compass-type biped robot on periodically unlevel grounds. We first derive the continuous/discrete compass-type biped robots (CCBR/DCBR) via continuous/discrete mechanics, respectively. Next, we formulate a optimal gait generation problem on periodically unlevel grounds for the DCBR as a finite dimensional nonlinear optimization problem, and show that a discrete control input can be obtained by solving the optimization problem with the sequential quadratic programming. Then, we develop a transformation method from a discrete control input into a continuous zero-order hold input based on the discrete Lagranged’Alembert principle. Finally, we show numerical simulations, and it turns out that our new method can generate a stable gaits on a periodically unlevel ground for the CCBR.
Highlights
Numerous work on humanoid robots have been done via various approaches in the fields of robotics and control theory until now
We have focused on discrete mechanics and considered its applications to control theory
This paper aims at gait generation for the compass-type biped robot on periodically unlevel grounds which are more complex than flats and slopes from the standpoint of discrete mechanics
Summary
Numerous work on humanoid robots have been done via various approaches in the fields of robotics and control theory until now. In [29], [30], [31], [32], we have considered a gait generation problem for the compass-type biped robot and confirmed that the proposed method can generate stable gaits on flats and slopes. This paper aims at gait generation for the compass-type biped robot on periodically unlevel grounds which are more complex than flats and slopes from the standpoint of discrete mechanics.
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