• DocumentCode
    2989121
  • Title

    Optimization based gait pattern generation for a biped robot

  • Author

    Buschmann, Thomas ; Lohmeier, Sebastian ; Ulbrich, Heinz ; Pfeiffer, Friedrich

  • Author_Institution
    Inst. of Appl. Mechanics, Technische Univ. Munchen, Munich
  • fYear
    2005
  • fDate
    5-5 Dec. 2005
  • Firstpage
    98
  • Lastpage
    103
  • Abstract
    This paper addresses the problem of gait pattern generation for biped robots. A method based on nonlinear parameter optimization is proposed. Key features of the method are the trajectory description, optimization of only a subset of coordinates and the use of analytical, recursively calculated gradients for cost functions and constraints. The method has been used successfully to calculate walking trajectories for the 3D 17-DOF robot "Johnnie"
  • Keywords
    legged locomotion; nonlinear control systems; biped robot; gait pattern generation; nonlinear parameter optimization; Closed-form solution; Constraint optimization; Cost function; Drives; Error correction; Humans; Legged locomotion; Optimization methods; Orbital robotics; Robot kinematics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Humanoid Robots, 2005 5th IEEE-RAS International Conference on
  • Conference_Location
    Tsukuba
  • Print_ISBN
    0-7803-9320-1
  • Type

    conf

  • DOI
    10.1109/ICHR.2005.1573552
  • Filename
    1573552
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2989121