대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 하계학술대회 논문집 D
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- Pages.2405-2407
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- 2003
이족보행로봇의 걸음세 변화에 관한 최적화 연구
A Study on the Gait Optimization of a Biped Robot
- Noh, Kyung-Kon (Dept. of Industrial Automation Eng. Inha University) ;
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Kim, Jin-Geol
(School of Electrical Eng. Inha University)
- 발행 : 2003.07.21
초록
This study deals with the gait optimization of via points on biped robot. ZMP(Zero Moment Point) is most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, legs's trajectory and a desired ZMP trajectory is required, balancing weight's movement is solved by FDM(Finite Difference Method). In this study, optimal index is defined to dynamically static walking of a biped robot, and optimization of via points is applied by GA(Genetic Algorithm).
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