Energy-efficient Bio-inspired Gait Planning and Control for Biped Robot Based on Human Locomotion Analysis

作     者：Hongbo Zhu Minzhou Luo Tao Mei Jianghai Zhao Tao Li Fayong Guo 

作者机构：Department of Automation School of Information Science and Technology University of Science and Technology of China Hefei 230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Changzhou 213164 China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2016年第13卷第2期

页      面：271-282页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0836[工学-生物工程] 0702[理学-物理学] 

基　　金：Acknowledgment This research has been supported by Project of Science and Technology Support Plan of Jiangsu province (Grant No. BE2012057) and Science and Technology Support Plan Key Projects of Jiangsu province (Grant No. BE2013003) and National Nature Science Foundation of China (Grant No. 51405469) 

主　　题：motion capture Allowable Zero Moment Point (ZMP) Variation Region (AZR) Bio-inspired Gait Planning (BGP) humanoid robot 

摘      要：In this paper an experiment of human locomotion was carried out using a motion capture system to extract the human gait features. The modifiable key gait parameters affecting the dominant performance of biped robot walking were obtained from the extracted human gait features. Based on the modifiable key gait parameters and the Allowable Zero Moment Point （ZMP） Variation Region （AZR）, we proposed an effective Bio-inspired Gait Planning （BGP） and control scheme for biped robot to- wards a given travel distance D. First, we construct an on-line Bio-inspired Gait Synthesis algorithm （BGSN） to generate a complete walking gait motion using the modifiable key gait parameters. Second, a Bio-inspired Gait Parameters Optimization algorithm （BGPO） is established to minimize the energy consumption of all actuators and guarantee biped robot walking with certain walking stability margin. Third, the necessary controllers for biped robot were introduced in briefly. Simulation and experiment results demonstrated the effectiveness of the proposed method, and the gait control system was implemented on DRC-XT humanoid robot.