An optimization method for the reference trajectory of parametric excitation walking
In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Not only walking performance but also walking ability strongly depends on the reference trajectory of the center of mass. In this paper, we propose an optimization...
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| Veröffentlicht in: | Robotica 2011-07, Vol.29 (4), p.585-593 |
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| creator | Taji, Kouichi Banno, Yoshihisa Harata, Yuji |
| description | In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Not only walking performance but also walking ability strongly depends on the reference trajectory of the center of mass. In this paper, we propose an optimization method for the reference trajectory, in which the reference trajectory is confined to the quartic spline curves and the parameters of spline curves are optimized by a local search method usually used in combinatorial optimization. We apply the proposed method to a kneed biped robot and find some remarkably interesting results by numerical simulations. |
| doi_str_mv | 10.1017/S0263574710000342 |
| format | Article |
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| ispartof | Robotica, 2011-07, Vol.29 (4), p.585-593 |
| issn | 0263-5747 1469-8668 |
| language | eng |
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| source | Cambridge Journals |
| subjects | Center of mass Combinatorial analysis Mathematical models Optimization Robots Splines Trajectories Walking |
| title | An optimization method for the reference trajectory of parametric excitation walking |
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