2足歩行ロボットの最適軌道計画解 : 第1報, 最適軌道解析法と全関節駆動系の最適解

概要

論文の詳細を見る
This paper describes an optimal trajectory planning of walking locomotion for a biped mechanism which has thighs, shanks and small feet. We model the mechanism to be a 3-DOF link system composed of a stance leg and a 2-DOF swing leg. The one step walking locomotion is divided into two phases, i,e., the swing motion of 2-DOF swing leg with stance leg, and the free motion of straight swing leg with stance leg. It is assumed that the knee collision of the swing leg and the toe collision at foot exchage are plastic and occur instantly. The motion of the swing and stance legs in the first phase is solved by the optimal trajectory planning method based on the function approximation method. Under the full-actuated condition at the hip, knee and ankle joints, we obtained the minimum square input trajectory solutions with natural gaits for biped mechanism parameter values and adult's parameter values. One step period of the optimal solution for the human parameter values is 0.62s which is close to that of human. The validity of the optimal trajectory planning method is confirmed by forward dynamic simulation.
2001-08-25