Title :
Energy-Efficiency-Based Gait Control System Architecture and Algorithm for Biped Robots
Author :
Liu, Zhi ; Wang, Liyang ; Chen, C. L Philip ; Zeng, Xiaojie ; Zhang, Yun ; Wang, Yaonan
Author_Institution :
Fac. of Autom., Guangdong Univ. of Technol., Guangzhou, China
Abstract :
A novel systematic architecture and algorithm of gait control based on energy-efficiency optimization is represented, aiming at the fatal problem of high energy consumption for biped robots walking in unstructured environments. By designing an optimal controller to minimize the energy criterion, the proposed method provides a remarkable descend rate of energy consumption in the trunk-rotation walking mechanism. The proposed algorithm is able to optimize the trunk trajectory by minimizing the energy-related cost function while guaranteeing zero-moment point (ZMP) criterion. Simulations and experimental results show the validity of the method.
Keywords :
control system synthesis; energy conservation; legged locomotion; motion control; optimal control; optimisation; trajectory control; ZMP criterion; biped robots walking; energy consumption; energy-efficiency optimization; energy-efficiency-based gait control system architecture; energy-related cost function minimization; fatal problem; high energy consumption; optimal controller design; systematic architecture; trunk trajectory; trunk-rotation walking mechanism; unstructured environments; zero-moment point criterion; Energy consumption; Legged locomotion; Optimization; Torque control; Trajectory; Biped robot; energy efficiency; gait control; zero-moment point (ZMP);
Journal_Title :
Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on
DOI :
10.1109/TSMCC.2011.2173191
