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Gait Pattern Generation of S-link Biped Robot Based on Trajectory Images of Human's Center of Gravity  

Kim, Byoung-Hyun (숭실대학교 전자공학과)
Han, Young-Joon (숭실대학교 정보통신전자공학부)
Hahn, Hern-Soo (숭실대학교 정보통신전자공학부)
Publication Information
Journal of KIISE:Software and Applications / v.36, no.2, 2009 , pp. 131-143 More about this Journal
Abstract
Based on the fact that a human being walks naturally and stably with consuming a minimum energy, this paper proposes a new method of generating a natural gait of 5-link biped robot like human by analyzing a COG (Center Of Gravity) trajectory of human's gait. In order to generate a natural gait pattern for 5-link biped robot, it considers the COG trajectory measured from human's gait images on the sagittal and frontal plane. Although the human and 5-link biped robot are similar in the side of the kinematical structure, numbers of their DOFs(Degree Of Freedom) are different. Therefore, torques of the human's joints cannot are applied to robot's ones directly. In this paper, the proposed method generates the gait pattern of the 5-link biped robot from the GA algorithm which utilize human's ZMP trajectory and torques of all joints. Since the gait pattern of the 5-link biped robot model is generated from human's ones, the proposed method creates the natural gait pattern of the biped robot that minimizes an energy consumption like human. In the side of visuality and energy efficiency, the superiority of the proposed method have been improved by comparative experiments with a general method that uses a inverse kinematics.
Keywords
5-link biped robot; gait pattern; COG(Center Of Gravity); ZMP(Zero Moment Point);
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Times Cited By KSCI : 1  (Citation Analysis)
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