In this article, offline path planning for walking of a 2D humanoid robot with 6 Degrees of Freedom (DoF) is performed. This path planning is based on foot and hip trajectories. To make sure that walking cycle is stable, Zero Moment Point (ZMP) criterion is used. Full dynamic model of the humanoid robot in Single Support (SS) phase and Double Support (DS) phase are calculated by the use of Lagrange and Kane methods. By comparison of Lagrange and Kane methods, the dynamic model is verified. A Genetic Algorithm (GA) optimization of walking gait is proposed in which minimum energy consumption and maximum walking stability are two goal functions of this optimization. Finally the best stride length for each robot velocity is determined.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Offline path planning, dynamic modeling and gait optimization of a 2D humanoid robot


    Beteiligte:
    Sadedel, Majid (Autor:in) / Yousefi-koma, Aghil (Autor:in) / Khadiv, Majid (Autor:in)


    Erscheinungsdatum :

    2014-10-01


    Format / Umfang :

    314174 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Humanoid robot gait imitation

    Hwang, Kao-Shing / Lin, Jin-Ling / Huang, Tsung-Chuan et al. | IEEE | 2014


    Gait control and optimization of humanoid soccer robot

    Liu, Zhenxin / Tan, Yingzi | IEEE | 2019


    Normalization-Based Omnidirectional Gait Planning for Small Humanoid Robot

    Li, Guo Dong ;Peng, Jian Yi ;Liu, Kun Peng | Trans Tech Publications | 2011


    Modeling and Control of Passive Dynamic Walking Robot with Humanoid Gait

    Zhu, Zhen Chao ;Sui, Zhen ;Tian, Yan Tao | Trans Tech Publications | 2013


    Real-time gait planning for pushing motion of humanoid robot

    Motoi, N. / Ikebe, M. / Ohnishi, K. | IEEE | 2005