DocumentCode
2705396
Title
Gait design and optimization of a new limb robot
Author
Fan, Jizhuang ; Yan, Jihong ; Zhao, Jie
Author_Institution
Sch. of Electr. Eng. & Autom., Harbin Inst. of Technol., Harbin, China
fYear
2012
fDate
6-8 June 2012
Firstpage
295
Lastpage
298
Abstract
A new type of integration robot of arm and leg has been developed. Its cross gait of walking quickly on the barrier-free road was designed and planned. Gait optimization algorithm based on the energetic optimum was put forward, which can optimize the robot cross gait, and get the corresponding optimization parameters of walking gait. The simulation results show that the robot has the very good exercise continuity and stability on the basis of low energy consumption when it adopts the optimized cross gait.
Keywords
control system synthesis; gait analysis; legged locomotion; optimisation; stability; barrier-free road; gait design; integration robot; low energy consumption; new limb robot; optimization; stability; Foot; Joints; Legged locomotion; Optimization; Roads; Robot kinematics; Gait optimization; Gait planning; Limb robot; Simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Information and Automation (ICIA), 2012 International Conference on
Conference_Location
Shenyang
Print_ISBN
978-1-4673-2238-6
Electronic_ISBN
978-1-4673-2236-2
Type
conf
DOI
10.1109/ICInfA.2012.6246821
Filename
6246821
Link To Document