Energy-efficient straight-line gait synthesis and gait parameter optimization on flat surface for bipedal robots = 2족 보행 로봇을 위한 평지에서의 에너지 효율적인 직선 보행 걸음새 생성과 보행 파라미터 최적화

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For the past decade, many humanoid robots have been successfully introduced around the world, and various researches to achieve human-like abilities have been actively conducted. Most of the humanoid robots has been using ZMP scheme to successfully realize dynamic biped walking, but their motion may be generally designed with intent to perform primary task such as stable walking, running, or climbing stair, and thus economic transportation may seem unimportant. So, their walks are unnatural unlike human’s walking, and thus consume much battery power, which limits operation time and capacity to carry loads of the battery-power humanoid robot system. Therefore, energy-efficient gait generation for bipedal walking robot is indispensable, which is our focused area of this dissertation.In this dissertation, our objective is to establish energy-efficient straight-line gait generation algorithm based on ZMP scheme for a complete gait cycle which begins and ends with rest state during walking a certain distance on flat surface, and to verify feasibility and efficiency of the proposed algorithm on real humanoid robot. The energy-efficient gait generation problem was formulated by describing the robot model for a commercial DARwIn-OP humanoid robot, assumptions for human-like robotic walking, dynamic balancing with ZMP concept, physical constraints (geometric constraint, friction force limit, yawing moment limit) for feasible robotic walking, and energy consumed by geared DC motors installed at every leg joint. In order to reach our goal, we established the energy-efficient gait generation algorithms utilizing allowable ZMP region (AZR), sequentially relieving the constraints on vertical body motion (VBM) and Foot pitch rotation (FPR), and verified the energy saving effect of the proposed algorithms through extensive simulation and experiment.Firstly, when both the VBM and FPR are not allowed, we construct a practical energy-efficient gait generation algorithm, only uti...
Kim, Byung-Kookresearcher김병국
한국과학기술원 : 전기및전자공학과,
Issue Date
591816/325007  / 020065089

학위논문(박사) - 한국과학기술원 : 전기및전자공학과, 2014.8, [ ix, 107 p. ]


bipedal robot; 발 피치 회전; 수직 상체 운동; 허용 ZMP 영역; Zero-Moment-Point (ZMP); 에너지 효율적인 보행 걸음새; energy-efficient gait; Zero-Moment-Point (ZMP); allowable ZMP region; vertical body motion; foot pitch rotation; 2족 보행 로봇

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