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http://dx.doi.org/10.5302/J.ICROS.2011.17.10.1029

Energy-Efficient Reference Walking Trajectory Generation Using Allowable ZMP (Zero Moment Point) Region for Biped Robots  

Shin, Hyeok-Ki (Korea Advanced Institutes of Science and Technology)
Kim, Byung-Kook (Korea Advanced Institutes of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.10, 2011 , pp. 1029-1036 More about this Journal
Abstract
An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.
Keywords
bipedal walking; reference gait generation; variable ZMP; footstep planning;
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Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 1
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