Periodic motion generation for the impactless biped walking up slopes via genetic algorithm
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Periodic motion generation for the impactless biped walking up slopes via genetic algorithm Lulu Gong1 • Ruowei Zhao1 • Jinye Liang1 • Lei Li1 • Ming Zhu1 • Ying Xu1 • Xiaolu Tai1 • Xinchen Qiu1 • Haiyan He1 • Fangfei Guo1 • Jindong Yao1 • Zhihong Chen1 • Chao Zhang1
Ó Springer Nature B.V. 2019
Abstract The angular positions of the lower limb joints play important roles on the energy consumption and stability for the bipedal walking up slopes. In this study, the ranges of angular position of lower limb joints are confined and the velocity of swing foot is zero when it touches the ground, which result in the construction of the impactless planar bipedal model. Motion/force control scheme combined with genetic algorithm (GA) is used to ensure stability and low energy cost of bipedal walking at different speeds. The optimized parameters of gaits are obtained by GA, which include walking speed, step length and the maximum height of swing ankle joint. The results demonstrate that more energy is consumed when the optimal walking speed increases for the biped walking on slopes with the same gradient. There are no great differences in optimal step length of the biped when the walking speed changes. The optimal step length declines as the slope increases at the same walking speed. The ankle torques of standing leg have higher values in single support phase at fast speed compared to those at slow and normal speeds. Modifications of boundary conditions can not only be used to realize the stable walking for the biped negotiating slopes, but also be applied to analyze bipedal gaits for walking on stairs and uneven surfaces. Keywords Biped Genetic algorithm Optimization Slope Impactless
1 Introduction Biped robots are required to have humanlike locomotion to adapt to uncertain environments like the flat ground, stairs and ramps. A lot of joint trajectory generation methods were proposed to realize the stable and energy-efficient walking for the biped robots in recent years (Gumuscu et al. 2017; Juang and Yeh 2018; Khadiv et al. 2017). In order to solve the problems of destabilization of the bipedal walking caused by impacts, the motion/force control scheme was applied by Blajer and Schiehlen (1992) to & Lulu Gong [email protected] & Chao Zhang [email protected] 1
Research Center for Translational Medicine, Translational Medical Center for Stem Cell Therapy, Institute for Regenerative Medicine, Shanghai East Hospital, Shanghai Key Laboratory of Signaling and Disease Research, School of Life Sciences and Technology, Tongji University, Shanghai 200092, China
achieve impactless walking, which required the zero velocity of the swing foot when it made contact with the ground. Based on their results, Gong and Schiehlen (2013) and Gong (2013) demonstrated that the motion/force control scheme can be used effectively to generate stable walking for the biped negotiating slopes and stairs. Ge et al. (2015) utilized the motion/force control strategy and the recurrent neural
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