Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1998.07g
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- Pages.2339-2341
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- 1998
Energy Optimization for The Walking of Biped Robot
이족보행로봇의 보행을 위한 에너지 최적화
- Kim, Jong-Tae (Dept. of Industrial Automation Eng. Inha Univ) ;
- Choi, Sang-Ho (Dept. of Industrial Automation Eng. Inha Univ) ;
- Lim, Sun-Ho (Dept. of Industrial Automation Eng. Inha Univ) ;
- Kim, Jin-Geol (Dept. of Industrial Automation Eng. Inha Univ)
- Published : 1998.07.20
Abstract
This paper is concerned with an energy optimization for the walking of IWR biped robot. The movement of balancing joints are determined by ZMP(Zero Moment Point) and dynamic properties caused by motion of a swing leg. Therefore, ZMP positions have an important role in walking and guarnateeing the stability of a robot. A genetic algorithm is utilized for solving this problem and finding ZMP with a minimum energy at each sampling time during the walk. In this study, we performed an energy optimization with desired ZMP trajectories and motion of balancing joints.
Keywords