Abstract
This paper deals with dynamic optimization of biped locomotion. The main focus of this research is motion optimization of double support phase. The optimization problem is dealt by using Pontryagins Maximum Principal. For motion optimization of double support phase, the closed kinematic chain has been considered to be opened at appropriate joint and the components of ground reaction forces has been applied on the tip of front leg and finally the penalty method has been used to tighten the leg to its prescribed location. The feasible sets of motion are taken into consideration by using inequality constraint to limit the joint motion. Also the components of ground reaction forces on front leg have been introduced as control variables in optimization of double support phase. The proposed technique has the ability to generate optimal free motions without specifying joint trajectories and minimized the performance criterion based on joint actuating torques. The two point boundary value problem has been solved by implementing a shooting method. This technique allows for specifying a few parameters to characterize gait pattern. The optimization process has the ability to generate a motion with a minimum of postural and kinematics data. Unlike previous research which used computational intelligent techniques for biped gait optimization, this study focuses on development of purely dynamic synthesis of biped motion during the double support phase.
Highlights
Robot walk down a slope by gravity induced passive motion [19]
This paper focuses on achieving a pure dynamic synthesis of biped robot gait during both single support phase [21,22,23] and double support phase [25] on sagittal plane without considering the impact effect at the end of the swing phase [2, 24]
The single support phase can be modeled as an open kinematic chain if the tips of this open kinematic chain is brought into contact with floor, a closed-loop will be created as a multi support phase, the differential equations will become more complicated
Summary
Robot walk down a slope by gravity induced passive motion [19]. Thereafter the dynamics of five link sagittal. Mostafa Rostami, No 424, Hafez Avenue, Department of Biomechanics, Faculty of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran, P.O. Box. This paper focuses on achieving a pure dynamic synthesis of biped robot gait during both single support phase [21,22,23] and double support phase [25] on sagittal plane without considering the impact effect at the end of the swing phase [2, 24]. This paper focuses on achieving a pure dynamic synthesis of biped robot gait during both single support phase [21,22,23] and double support phase [25] on sagittal plane without considering the impact effect at the end of the swing phase [2, 24] This approach allows for a frilly dynamic model of the biped which is based on minimizing the integral of quadric joint actuating torques. The single support phase can be modeled as an open kinematic chain if the tips of this open kinematic chain is brought into contact with floor, a closed-loop will be created as a multi support phase, the differential equations will become more complicated
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