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Optimal Trajectory Generation for Biped Robots Walking Up-and-Down Stairs
Ohung Kwon,Kweon Soo Jeon,Jong Hyeon Park 대한기계학회 2006 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.20 No.5
This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy; walking on even ground, ascending stairs, and descending stairs.
Adaptive Dynamic Locomotion of Quadrupedal Robots with Semicircular Feet on Uneven Terrain
Kwon, Ohung,Park, Sangdeok 제어로봇시스템학회 2014 Transaction on control, automation and systems eng Vol.12 No.1
This paper proposes an adaptive trajectory generation method for quadruped robots with semicircular feet to control body speed and heading, and to minimize power consumption on uneven terrain. The semicircular foot with single line of contact is easier to solve the kinematic problems than flat feet with active ankle joints. And its wheel-like rolling motion leads to improvement in power autonomy and reduction of impact forces. The adaptive gait patterns are changed by the sequential modulation of the locomotion period and the stride per step which are determined by the desired body speed and heading commands, and external environments. The efficiency and performance of the developed method are verified through computer simulations and experiments using a hydraulic actuated quadrupedal robot.