한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제15권3호
- /
- Pages.157-167
- /
- 1998
- /
- 1225-9071(pISSN)
- /
- 2287-8769(eISSN)
이족 보행 로봇의 궤적의 최적화 계획에 관한 연구
A Study on the Trajectory Optimization Planning of Biped Walking Machine
Abstract
In this paper it is purpose that reduces joint torques and their rate of change through optimizing trajectory planning of biped walking machine. The motion of biped walking machine is divided into leg motion for walking and body motion for keeping balance. The leg motion is planned by three phases, that are deploy, swing, and place phases, in terms of the state of foot against floor. The distribution of time assigned to each phase is optimized and that causes leg joint torques and their rate of change to minimize. The body notion is produced by using optimal control theory which minimizes body joint torques and satisfies Z.M.P. constraints defined as region of each phase.
Keywords