G1510302 A Study on Walking Gait Pattern Generation of Two-Legged Robot to Obstacle Avoidance based on Walking Speed and Energy Consumption

• YAMAGUCHI Takaya

  Graduate School of Science and Technology, Shinshu University

• NISHIKAWA Naoki

  信州大学工学部

• FUJII Garuda

  信州大学工学部

• NAKAMURA Masayuki

  信州大学工学部

Bibliographic Information

Other Title

• 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))

Abstract

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.

Journal

• The Proceedings of Mechanical Engineering Congress, Japan

  The Proceedings of Mechanical Engineering Congress, Japan 2014 (0), _G1510302--_G1510302-, 2014

  The Japan Society of Mechanical Engineers

Keywords

• Optimization
• Robot
• Gait
• Legged Locomotion
• Stepping Point

Details

• CRID: 1390282680819279232
• NII Article ID: 110009943410
• DOI: 10.1299/jsmemecj.2014._g1510302-
• ISSN: 24242667
• Web Site: https://www.jstage.jst.go.jp/article/jsmemecj/2014/0/2014__G1510302-/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed