A discrete mechanics approach to gait generation for the compass-type biped robot

• Kai Tatsuya

  Faculty of Information Science and Electrical Engineering, Kyushu University

• Shintani Takeshi

  Kyocera Corporation

Abstract

In this paper, we develop a new approach based on discrete mechanics to a gait generation problem for the compass-type biped robot. First, both continuous-time and discrete-time models of the compass-type biped robot are derived. We next formulate a discrete gait generation problem for the discrete compass-type biped robot as a finite dimensional nonlinear optimal control problem and show an algorithm to solve the problem based on the sequential quadratic programming. Then, we propose a transformation method that converts a discrete-time control input into a continuous-time zero-order hold one and apply it to gait generation for the continuous compass-type biped robot. Some simulations are also shown in order to verify the effectiveness of our new approach.

Journal

• Nonlinear Theory and Its Applications, IEICE

  Nonlinear Theory and Its Applications, IEICE 2 (4), 533-547, 2011

  The Institute of Electronics, Information and Communication Engineers

Keywords

• discrete/continuous compass-type biped robot
• discrete mechanics
• gait generation
• zero-order hold control input
• sequential quadratic programming

Details

• CRID: 1390001205346255488
• NII Article ID: 130001225022
• DOI: 10.1587/nolta.2.533
• ISSN: 21854106
• Web Site: https://www.jstage.jst.go.jp/article/nolta/2/4/2_4_533/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed