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An optimization method for the reference trajectory of parametric excitation walking

Published online by Cambridge University Press:  18 August 2010

Kouichi Taji ,
Yoshihisa Banno  and
Yuji Harata
Kouichi Taji*
Affiliation:
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan. E-mail: y_banno@nuem.nagoya-u.ac.jp
Yoshihisa Banno
Affiliation:
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan. E-mail: y_banno@nuem.nagoya-u.ac.jp
Yuji Harata
Affiliation:
Division of Mechanical Systems and Applied Mechanics, Faculty of Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, Japan. E-mail: harata@hiroshima-u.ac.jp
*
*Corresponding author. E-mail: taji@nuem.nagoya-u.ac.jp
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Summary

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.

Keywords

BipedsLegged robotsParametric excitationOptimizationDynamic walking
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 585 - 593
Copyright
Copyright © Cambridge University Press 2010

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