Generation of Minimal Energy Joint Trajectories during Single Support Phase for 3-dimensional Bipedal Walking

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2013/05/01

タイトル(英語): Generation of Minimal Energy Joint Trajectories during Single Support Phase for 3-dimensional Bipedal Walking

著者名: Aliza Che Amran (Graduate School of Engineering, Yokohama National University), Naoki Motoi (Faculty of Engineering, Yokohama National University), Atsuo Kawamura (Faculty of Engineering, Yokohama National University)

著者名(英語): Aliza Che Amran (Graduate School of Engineering, Yokohama National University), Naoki Motoi (Faculty of Engineering, Yokohama National University), Atsuo Kawamura (Faculty of Engineering, Yokohama National University)

キーワード: LIPM，walking，biped robot，redundancy，optimization，minimal energy，motion control，b-spline

要約(英語): This paper introduces a method to generate minimal energy joint trajectories during a single support phase of linear inverted pendulum model (LIPM)-based biped walking. By using a variational approach and B-spline curves, this method is able to generate new set of joint configurations. This joint set minimizes the cost function which reduces the energy consumption while keeping the center of mass almost at the same position in x-, y- and z-directions. Constraining the center of mass to be the same during minimization helps in conserving the zero moment point (ZMP) of the predefined walking trajectory. The energy consumption function is represented by the actuator's electrical energy which consists of copper loss and mechanical energy. From the simulation results, it is verified that the proposed method is effective.

本誌: IEEJ Journal of Industry Applications Vol.2 No.3 （2013）

本誌掲載ページ: 150-160 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/2/3/2_150/_article/-char/ja/