G1510302 消費エネルギーと歩行速度を基準とした二足ロボットの障害物回避歩行動作生成([G151-03]ロボティクス・メカトロニクス部門一般セッション(3))

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タイトル別名
  • G1510302 A Study on Walking Gait Pattern Generation of Two-Legged Robot to Obstacle Avoidance based on Walking Speed and Energy Consumption

抄録

The purpose of this study is to generate the gait of a two-legged robot to avoid obstacles. It is expected that two-legged robot can avoid obstacle more smoothly in the same way that animal and human adjust stride naturally to step over obstacles. Stepping points are determined optimally under the condition of maximizing walking speed and/or minimizing energy for walking. The gait generation problem is reduced to a combinatorial optimization problem solved by using genetic algorithm. Orbits of toes and hip between stepping points are generated by means of parametric modeling. The stable walking patterns are obtained under the condition of the maximizing walking speed and the minimizing energy consumption.

収録刊行物

  • 年次大会

    年次大会 2014 (0), _G1510302--_G1510302-, 2014

    一般社団法人 日本機械学会

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