Hostname: page-component-cd9895bd7-dk4vv Total loading time: 0 Render date: 2024-12-28T05:18:05.279Z Has data issue: false hasContentIssue false
  • English
  • Français

Generating globally optimised sagittal gait cycles of a biped robot

Published online by Cambridge University Press:  26 February 2003

Tarik Saidouni  and
Guy Bessonnet
Tarik Saidouni
Affiliation:
Laboratoire de Mécanique des Structures, Ecole Polytechnique, BP17 M1, Bordj El Bahri 16111 Alger (Algeria). saidouni.tarik@caramail.com
Guy Bessonnet
Affiliation:
Laboratoire de Mécanique des Solides, CNRS-UMR6610, Université de Poitiers, SP2MI, Bd. M. & P. Curie, BP 30179, 86962 Futuroscope Chasseneuil cedex (France). bessonnet@lms.univ-poitiers.fr
Get access Rights & Permissions [Opens in a new window]

Abstract

The paper is aimed at generating optimal gait cycles in the sagittal plane of a biped, the locomotion system of which has anthropomorphic characteristics. Both single and double support phases are globally optimised, considering incompletely specified transition postural configurations from one phase to the other. An impactless heel-touch is prescribed. Full dynamic models are developed for both gait phases. They are completed by specific constraints attached to the unilaterality of contact with the supporting ground.

A parametric optimisation method is implemented. The biped joint coordinates are approximated by cubic splines functions connected at uniformly distributed knots along the motion time. The finite set of unknowns consists of the joint coordinate values at knots, some gait pattern parameters at phase transitions, and the motion time of each phase. The step length is adjusted to the prescribed gait speed by the optimisation process. Numerical simulations concerning slow and fast optimal gaits are presented and discussed.

Keywords

Sagittal gaitParametric optimisationCubic spline interpolationImpactless gaitGait optimisation
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 199 - 210
Copyright
© 2003 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)