Abstract
A novel gait planning method using geodesics for humanoid robot is given in this paper. Both the linear inverted pendulum model and the exact Single Support Phase (SSP) are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimension linear inverted pendulum is obtained at first. We regard the kinetic energy as the Riemannian metric and the geodesic on this metric is studied and this is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the COG because the kinetic energy along geodesic is invariant according to the geometric property of geodesics and the walking is smooth and energy saving. Then the walking in Single Support Phase is studied and the energy optimal gait for the swing leg is obtained using our geodesics method. Finally, experiments using state-of-the-art method and using our geodesics optimization method are carried out respectively and the corresponding currents of the joint motors are recorded. With the currents comparing results, the feasibility of this new gait planning method is verified.
Highlights
Energy consumption is an important factor which is considered in gait planning of bipedal humanoid robot
The gaits between two different height of the center of the mass points are straight line. The reason of this coincidence is that the two variables θ and h are decoupled in the 2-dimensional inverted pendulum model
A new smooth and energy saving gait planning method based on geodesic is introduced in this paper
Summary
Energy consumption is an important factor which is considered in gait planning of bipedal humanoid robot. Researchers make optimal energy gait planning to ensure that the humanoid robot can walk stably and efficiently. Park J H et al [2] used gravity-compensated inverted pendulum mode and computed torque control to make the robot walk more efficiently. The other category is to use inverted pendulum model [17, 18] In this paper, both categories are studied using geodesics method. We have successfully implemented the geodesics method in the optimal trajectory planning of multiple degree-of-freedom industrial manipulators [22, 23]. We use geodesic method to study optimal energy gait planning on inverted pendulum model and precise dynamic parameters model respectively. Dynamic model of swing leg is established and an optimal energy gait planning in single support phase is studied. The experiments are carried out to verify the geodesic gait planning method
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