• Title/Summary/Keyword: optimal walking

Search Result 122, Processing Time 0.023 seconds

Accuracy Analysis of Optimal Trajectory Planning Methods Based on Function Approximation for a Four-DOF Biped Walking Model

  • Peng Chunye;ONO Kyosuke
    • Journal of Mechanical Science and Technology
    • /
    • v.19 no.spc1
    • /
    • pp.452-460
    • /
    • 2005
  • Based on an introduced optimal trajectory planning method, this paper mainly deals with the accuracy analysis during the function approximation process of the optimal trajectory planning method. The basis functions are composed of Hermit polynomials and Fourier series to improve the approximation accuracy. Since the approximation accuracy is affected by the given orders of each basis function, the accuracy of the optimal solution is examined by changing the combinations of the orders of Hermit polynomials and Fourier series as the approximation basis functions. As a result, it is found that the proper approximation basis functions are the $5^{th}$ order Hermit polynomials and the $7^{th}-10^{th}$ order of Fourier series.

A study on the Obstacle Avoidance for a Biped Walking Robot Using Genetic-Fuzzy Algorithm (퍼지와 유전알고리즘을 이용한 이족보행로봇의 방해물 회피에 관한 연구)

  • Kong, Jung-Shik;Kim, Jin-Geol
    • Proceedings of the KIEE Conference
    • /
    • 2001.11c
    • /
    • pp.304-306
    • /
    • 2001
  • This paper presents the obstacle avoidance of a biped walking robot using GA-Fuzzy algorithm. In the case of our previous studies the surface has been assumed to be flat. For the case of the environment with obstacles, however, the walking robot might be unnatural. Thus, we considered the surface contained obstacles that the robot can pass through. We propose the optimal leg trajectory data-base by using genetic algorithm and optimal leg trajectory movement about obstacles that exist in front of the robot using fuzzy approach. It is shown that the robot can move more naturally on the surface that contains obstacles.

  • PDF

Development of Modular DEAS (mDEAS) and its Application to Optimal Trajectory Generation of Biped Walking (최적화 기법인 mDEAS의 개발 및 휴머노이드 이족보행 시 최적 관절궤적 생성에의 적용)

  • Kim, Eun-Su;Kim, Jo-Hwan;Kim, Jong-Wook
    • The Transactions of The Korean Institute of Electrical Engineers
    • /
    • v.58 no.2
    • /
    • pp.382-390
    • /
    • 2009
  • This paper newly proposes a modular type dynamic encoding algorithm for searches (DEAS) which partitions the whole parameters into several modules and carries out exhaustive DEAS for each module. uDEAS is used to measure parameter sensitivities to the cost function, and the variables whose sensitivities are similar are grouped to make a module. The proposed optimization method is applied to optimal trajectory generation for biped walking of a humanoid. and the optimization result is compared with those of the former versions of DEAS.

Walking robot Optimum Design by Jansen's mechanism (Jansen's Mechanism 기반의 보행로봇 최적설계)

  • Kim, Taehyun;Seo, Hankook;Lee, Seohyun
    • Proceeding of EDISON Challenge
    • /
    • 2016.03a
    • /
    • pp.443-454
    • /
    • 2016
  • This study focus to make 8 legs robot based on Jansen's mechanism. In the process of making, we found GL(Ground length),GAC(Ground Angle Coefficient) and the height difference of tract and compare Several models with M.Sketch to find link's Length ratio Optimised simple walking and crossing of obstacles. In the process, our team Analyzed the difference ideal tract (Jansen holy number model's track) contrived by Jansen and our final model tract. As a result, we found optimal link's length ratio to over the obstacles and some features that our model differ from Jansen holy number model. It means that optimal link's length ratio depends on certain circumstances, perfect length ratio is nonexistent.

  • PDF

Classification of Wearable Walking-Assistive Robots for Task-Oriented Design (작업지향 설계를 위한 의복형 보행보조 로봇의 분류방법)

  • Kim, Heon-Hui;Jung, Jin-Woo;Jang, Hyo-Young;Kim, Jin-Oh;Bien, Zeung-Nam
    • The Journal of Korea Robotics Society
    • /
    • v.1 no.1
    • /
    • pp.1-8
    • /
    • 2006
  • In this paper, we propose a methodology for classifying types of lower limb disability and their mechanical structure, based on extensive survey of previous developments. We also propose a task-oriented design with human-friendly and energy-efficient assistive system. The result can be used for optimal design of wearable walking-assistive robot considering the type of disability and the content of task.

  • PDF

Optimal Design of Klann-linkage based Walking Mechanism for Amphibious Locomotion on Water and Ground (수면 지면 동시보행을 위한 Klann 기구 기반 주행메커니즘 최적설계)

  • Kim, Hyun-Gyu;Jung, Min-Suck;Shin, Jae-Kyun;Seo, TaeWon
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.20 no.9
    • /
    • pp.936-941
    • /
    • 2014
  • Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.

Force Manipulability Analysis of Multi-Legged Walking Robot (다족 보행로봇의 동적 조작성 해석)

  • 조복기;이지홍
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.10 no.4
    • /
    • pp.350-356
    • /
    • 2004
  • This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

Optimal Trajectory Generation for Walking Up a Staircase of a Biped Robot Using Genetic Algorithm (유전 알고리듬을 이용한 이족 보행 로봇의 계단 오르기 최적 보행 궤적 생성)

  • Kim, Eun-Su;Kim, Man-Seak;Kim, Jong-Wook
    • The Transactions of The Korean Institute of Electrical Engineers
    • /
    • v.58 no.2
    • /
    • pp.373-381
    • /
    • 2009
  • In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

A study on an adaptive gait for a quadruped walking robot under external forces (외력 대처 기능을 갖는 사각 보행 로보트 적응 걸음새에 관한 연구)

  • ;;;;Zeungnam Bien
    • Journal of the Korean Institute of Telematics and Electronics B
    • /
    • v.33B no.9
    • /
    • pp.1-12
    • /
    • 1996
  • In this paper, we propose an adaptive gait by which a quadruped walking robot can walk against external disturbances. This adaptive gait mechanism makes it possible for a quadruped walking robot to change its gait and accommodate external disturbances form various external environmental factors. Under the assumption that external disturbances can be converted to an external force acting on the body of a quadruped walking robot, we propose a new criterion for the stability margin of a waling robot by using an effective mass center based on the zero moment point under unknown external force. And for a solution of an adaptive gait against external disturbances, an method of altitude control and reflexive direction control is suggested. An algorithmic search method for an optimal stride of the quadruped mehtod, the gait stability margin of a quadruped walking robot is optimized in changing its direction at any instance for and after the reflexive direction control. To verify the efficiency of the proposed approach, some simulaton results are provided.

  • PDF

Simulation-based Jansen mechanism utilizing walking robot of the design and implementation in order to implement the best walking movement. (최적 보행 동작 구현을 위한 시뮬레이션 기반 Jansen Mechanism 활용 보행 로봇 설계 및 구현.)

  • Kim, Heechan;Kim, SeungHa
    • Proceeding of EDISON Challenge
    • /
    • 2016.03a
    • /
    • pp.467-468
    • /
    • 2016
  • The importance of the recent manufacturing industry have been made to invest in a lot of assistance and human resource development at the national dimension in which to rise again. However Learned in actual school education kinetic, and the use to how product design structural knowledge, Often it feels vague unlikely whether it is possible to derive an optimal product. In this study, by using the simulation-based Jansen Mechanism designed a walking robot, after optimization of the numerical consideration when designing for optimum walking motion, through simulation through the actual production resulting numerical information is examined whether valid. In addition, through the actual production was walking robot, to verify the validity of the simulation-based design.

  • PDF