Optimal Gait Synthesis of a Seven-Link Planar Biped

Author:

Bessonnet Guy1,Chessé Stéphane2,Sardain Philippe2

Affiliation:

1. Laboratoire de Mécanique des Solides, CNRS-UMR6610, University of Poitiers, SP2MI, Bd. M. & P. Curie, BP 30179, 86962 Futuroscope-Chasseneuil, France,

2. Laboratoire de Mécanique des Solides, CNRS-UMR6610, University of Poitiers, SP2MI, Bd. M. & P. Curie, BP 30179, 86962 Futuroscope-Chasseneuil, France

Abstract

In this paper, we carry out the dynamics-based optimization of sagittal gait cycles of a planar seven-link biped using the Pontryagin maximum principle. Special attention is devoted to the double-support phase of the gait, during which the movement is subjected to severe limiting conditions. In particular, due to the fact that the biped moves as a closed kinematic chain, overactuation must be compatible with double, non-sliding unilateral contacts with the supporting ground. The closed chain is considered as open at front foot level. A full set of joint coordinates is introduced to formulate a complete Hamiltonian dynamic model of the biped. Contact forces at the front foot are considered as additional control variables of the stated optimal control problem. This is restated as a state-unconstrained optimization problem which is finally recast, using the Pontryagin maximum principle, as a two-point boundary value problem. This final problem is solved using a standard computing code. A gait sequence, comprising starting, cyclic, and stopping steps, is generated in the form of a numerical simulation.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Reference14 articles.

1. Beletskii, V.V., and Chudinov, P.S. 1977. Parametric optimization in the problem of biped locomotion . Mechanics of Solids 12(1): 25-35 .

2. Walking Without Impacts as a Motion/Force Control Problem

3. Derivation of optimal walking motions for a bipedal walking robot

4. Optimal reference trajectories for walking and running of a biped robot

Cited by 52 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3