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Paper ThAP.23

Zhu, Qiuguo (Zhejiang University), Jia, Xuechao (Zhejiang University), Xiong, Rong (Zhejiang University), Wu, Jun (Zhejiang University)

The Coordination of Movement for Two-Legged Robots Based on Energy Optimization

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Legged Robots, Optimal Control

Abstract

Legged robot has long been a hotspot research in the field of robotics because of its biomorphic and capacity to travel on the rugged and complex terrain. But the energy efficiency is a main factor to constraint the development of legged robots for application. In order to improve the energy efficiency and reduce internal loss for the robot, coordination between the legs and joints is considered as an effective approach. In this paper, the coordinating and optimal trajectory is used in the biped robot based on energy optimization while keeping the stability of the posture of upper body. First, a planar five-link model for two-legged robot is established. According to the model above, Lagrange dynamics equation is calculated as the mathematics model for control. Then, an objective function is proposed by combining energy efficiency and posture stability. Second, the Raleigh-Ritz is used in the numerical calculation. Therefore, calculus of variations problem is transformed into a nonlinear programming problem. A fast algorithm to calculate the values of the objective function and gradient is designed. Then, the optimal coordinated trajectory is got by a nonlinear programming problem solver. Finally, ADAMS and MATLAB were used in the co-simulation experiments, from which we found that the robot walked in a stable posture of upper body with optimal energy and that robot emerged leg retraction and leg back swing phenomenon after optimizing similar to the human. A comparison is made of our method with the virtual model control method was used for the walking control regarded as a standard reference and the coordination mechanism of the leg retraction is analyzed based on above experiments.

 

 

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