Energy-Efficiency-Based Gait Control System Architecture and Algorithm for Biped Robots

被引：27
|
作者：
Liu, Zhi [1 ]
Wang, Liyang [1 ]
Chen, C. L. Philip [2 ,3 ]
Zeng, Xiaojie [1 ]
Zhang, Yun [1 ]
Wang, Yaonan [4 ]
机构：
[1] Guangdong Univ Technol, Fac Automat, Guangzhou 510006, Guangdong, Peoples R China
[2] Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China
[3] Univ Texas San Antonio, San Antonio, TX 78249 USA
[4] Hunan Univ, Dept Elect Engn, Changsha 410082, Hunan, Peoples R China
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS | 2012年 / 42卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Biped robot; energy efficiency; gait control; zero-moment point (ZMP); HUMANOID ROBOT; WALKING; GENERATION; LOCOMOTION; STABILITY; MOTION; ZMP;
D O I：
10.1109/TSMCC.2011.2173191
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A novel systematic architecture and algorithm of gait control based on energy-efficiency optimization is represented, aiming at the fatal problem of high energy consumption for biped robots walking in unstructured environments. By designing an optimal controller to minimize the energy criterion, the proposed method provides a remarkable descend rate of energy consumption in the trunk-rotation walking mechanism. The proposed algorithm is able to optimize the trunk trajectory by minimizing the energy-related cost function while guaranteeing zero-moment point (ZMP) criterion. Simulations and experimental results show the validity of the method.
引用
收藏
页码：926 / 933
页数：8
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