Numerical synthesis of three-dimensional gait cycles by dynamics optimization

Authors:
Tarik Saidouni
Affiliations:
Laboratory of structure mechanics, polytechnics military school, bp 17 bordj el bahri 16046, algiers, algeria
Venue:
Robotica
Year:
2011

Citing 8
Cited 0

Practical methods of optimization; (2nd ed.)

Practical methods of optimization; (2nd ed.)
Passive dynamic walking

International Journal of Robotics Research
Fundamentals of Robotic Mechanical Systems

Fundamentals of Robotic Mechanical Systems
Generating globally optimised sagittal gait cycles of a biped robot

Robotica
Optimal reference trajectories for walking and running of a biped robot

Robotica
Sagittal gait of a biped robot during the single support phase. Part 2: optimal motion

Robotica
Compensatory motion control for a biped walking robot

Robotica
A Parametric Optimization Approach to Walking Pattern Synthesis

International Journal of Robotics Research

Quantified Score

Hi-index	0.00

Visualization

Abstract

The present paper aims at generating three-dimensional cyclic gait of a biped with a locomotion system having anthropomorphic characteristics. Kinematic and dynamic models of both single and double support phases are extensively developed with a special attention devoted to the double support phase. A variety of gait constraints defining a feasible walk is taken into account. Joint trajectories are approximated by cubic spline functions connected at uniformly distributed knots. Joint coordinates at knots, walking phase durations, and independent parameters at phase transitions are the design parameters of a parametric optimization problem. Therefore, only the pattern organization and the gait speed are explicitly specified. The effectiveness of the proposed method is verified and discussed through some simulation results.