We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
An optimization method for the reference trajectory of parametric excitation walking.
- Authors
Taji, Kouichi; Banno, Yoshihisa; Harata, Yuji
- Abstract
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.
- Subjects
TRAJECTORY optimization; WALKING; ROBOTS; CENTER of mass; COMBINATORIAL optimization; COMPUTER simulation; QUARTIC curves
- Publication
Robotica, 2011, Vol 29, Issue 4, p585
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574710000342