Energy-Efficient Gait Planning and Control for Biped Robots Utilizing the Allowable ZMP Region

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Energy-efficient gait planning and control is established for biped robots, which utilizes the allowable zero moment point (ZMP) region. Based on 3-D linear inverted pendulum mode (LIPM), we construct a practical gait planning algorithm for a given travel distance minimizing the energy consumed by the actuators of humanoid joints with 1) an online gait synthesis (GSYN) algorithm to generate a complete walking cycle (a starting step, several cyclic steps, and a stopping step) compromising waking stability and energy efficiency at the fully utilizing allowable ZMP region and with 2) effective gait parameter optimization to maximize the energy efficiency of the gaits generated by GSYN, finding two optimal parameters-number of steps and average walking speed-satisfying geometrical constraints, friction force limit, and yawing moment limit to guarantee feasible motions. The proposed algorithm was verified through simulations, and the gait control system was implemented on aDARwIn-OP humanoid robot.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2014-08
Language
English
Article Type
Article
Keywords

TRAJECTORY GENERATION; PATTERN GENERATION; WALKING PATTERN; HUMANOID ROBOT; PARAMETERS; POINT

Citation

IEEE TRANSACTIONS ON ROBOTICS, v.30, no.4, pp.986 - 993

ISSN
1552-3098
DOI
10.1109/TRO.2014.2305792
URI
http://hdl.handle.net/10203/193036
Appears in Collection
EE-Journal Papers(저널논문)
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