Effect of motion parameters on time optimal path of biped robot using PSO algorithm

Designing of stable time optimal path for bipeds is one of the main issues in motion of bipeds. Motion parameters such as participation of motion phases and the distance between hip joint and ankle joint of support leg at the beginning and the end of the single support phase, have important effect in designing of time optimal path. In this paper the effect of these two motion parameters on time optimal path is discussed. At first, time optimal path is designed by particle swarm optimization algorithm considering definite participation of double support phase and actuators torque limitation. To ensure Stability, motion of a biped needs to follow specific pattern to comply with certain stability criterion such as zero moment point. Then the effect of double support phase on time optimal path and torque limitation on participation of the double support phase which satisfies time optimal path are studied. Finally effect of distance between hip joint and ankle joint of support leg at the beginning and the end of the single support phase on time optimal path is investigated.