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Study on Gait Planning of dynamic walking of Biped Robots Based on Optimization Theory

High Technology Letters 1997年第1期3卷 22-25页

作者：谭冠政 Central South Univ of Technology (CSUT) Changsha China

In this paper, two important problems in the gait planning of dynamic walking of biped robot, i.e., finding inverse kinematic solution and constructing joint trajectories, are studied in detail by adopting complex optimization theory. The optimization algorithm for finding the inverse kinematic solution is developed, the construction method of joint trajectories is given, and the gait planning method of dynamic walking of biped robots is proposed.

关键词： Biped robot dynamic walking Gait planning Complex optimization theory

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Stability and control of dynamic walking for a five-link planar biped robot with feet

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控制理论与应用（英文版） 2007年第2期5卷 113-120页

作者： Chenglong FU Ken CHEN Jing XIONG Leon XU Department of Precision Instruments and Mechanology Tsinghua University Beijing 100084 China Nokia Research Center Beijing 100013 China

During dynamic walking of biped robots, the underactuated rotating degree of freedom （DOF） emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems （DVHS）. Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method.

关键词： Biped robot dynamic walking Orbit stability Dimension-variant hybrid systems Nonlinear control

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Overview of Gait Synthesis for the Humanoid COMAN

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Journal of Bionic Engineering 2017年第1期14卷 15-25页

作者： Chengxu Zhou Xin Wang Zhibin Li Nikos Tsagarakis Department of Advanced Robotics lstituto Italiano di Tecnologia Via Morego 30 16163 Genova Italy Shenzhen Academy of Aerospace Technology Shenzhen 518057 China School of Informatics University of Edinburgh 10 Crichton St Edinburgh EH8 9AB UK

This paper focuses on the developments of a generic gait synthesis for the humanoid robot COMAN. Relying on the essential Gait Pattern Generator （GPG）, the proposed synthesis offers enhanced versatilities for the locomotion under different purposes, and also provides the data storage and communication mechanisms among different modules. As an outcome, we are able to augment new abilities for COMAN by integrating new control modules and software tools at a cost of very few modifications. Moreover, foot placement optimization is introduced to the GPG to optimize the gait parameter references in order to meet the robot＇s natural dynamics and kinematics, which enhances the synthesis＇s robustness while it＇s being implemented on real robots. We have also presented a practical approach to generate pelvis motion from CoM references using a simplified three-point-mass model, as well as a straightforward but effective idea for the state estimation using the sensory feedback. Three physical experiments were studied in an increasing complexity to demonstrate the effectiveness and successful implementation of the proposed gait synthesis on a real humanoid system.

关键词： humanoid robots bipedal locomotion gait synthesis dynamic walking

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