Quasi Optimal Gait of a Biped Robot with a Rolling Knee Kinematic
dc.contributor.author
hal.structure.identifier | HOBON, Mathieu
|
dc.contributor.author
hal.structure.identifier | LAKBAKBI EL YAAQOUBI, Nafissa
|
dc.contributor.author
hal.structure.identifier | ABBA, Gabriel
|
dc.date.accessioned | 2014 |
dc.date.available | 2014 |
dc.date.issued | 2011 |
dc.date.submitted | 2014 |
dc.identifier.uri | http://hdl.handle.net/10985/8738 |
dc.description.abstract | In this paper, we address the problem of optimization of trajectories for a new class of biped robot. The knees of this biped are similar as the anthropomorphic one and have a rolling contact between the femur and the tibia. The robot has seven mechanical links and six actuators. The walking gait considered is a succession of single support phase (SSP) and impact of the mobile foot with the ground. Cubic uniform spline functions defined on a time interval express the gait for one step. An energy consumption function and a torques quadratic function are used to compare the new robot with anthropomorphic knees to a conventional robot with revolute joint knees. The minimization of the criteria is made with simplex algorithm. The physical constraints concerning the ZMP and the mobile foot behavior are respectively checked to make a step. Simulation results show that the energy consumption of the new biped with rolling knee contact is less than that of the robot with revolute joint knees. |
dc.description.sponsorship | ANR R2A2 |
dc.language.iso | en |
dc.publisher | Elsevier |
dc.rights | Post-print |
dc.subject | Biped design |
dc.subject | Energy optimization |
dc.subject | Parameter optimization |
dc.subject | Walking gait |
dc.subject | Cubic spline |
dc.title | Quasi Optimal Gait of a Biped Robot with a Rolling Knee Kinematic |
dc.identifier.doi | 10.3182/20110828-6-IT-1002.01601 |
dc.typdoc | Communication avec acte |
dc.localisation | Centre de Metz |
dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
ensam.audience | Non spécifiée |
ensam.conference.title | 18th IFAC World Congress Milano (Italy) August 28 - September 2, 2011 |
ensam.conference.date | 2011-08-28 |
ensam.country | Italy |
ensam.title.proceeding | Preprints of the 18th IFAC World Congress Milano (Italy) August 28 - September 2, 2011 |
ensam.page | 11580-11587 |
ensam.volume | 18 |
ensam.issue | 1 |
hal.identifier | hal-01074244 |
hal.version | 1 |
hal.submission.permitted | updateFiles |
hal.status | accept |