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Authors: David Tlalolini ; Yannick Aoustin and Christine Chevallereau

Affiliation: Institut de Recherche en Communications et Cybernétique de Nantes, CNRS, Ecole Centrale de Nantes, Universit de Nantes, France

ISBN: 978-972-8865-83-2

Keyword(s): 3D biped, cyclic walking gait, parametric optimization, constraints.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: The development of an algorithm to achieve optimal cyclic gaits in space for a thirteen-link biped and twelve actuated joints is proposed. The cyclic walking gait is composed of successive single support phases and impulsive impacts with full contact between the sole of the feet and the ground. The evolution of the joints are chosen as spline functions. The parameters to define the spline functions are determined using an optimization under constraints on the dynamic balance, on the ground reactions, on the validity of impact, on the torques and on the joints velocities. The criterion considered is represented by the integral of the torque norm. The algorithm is tested for a biped robot whose numerical walking results are presented.

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Paper citation in several formats:
Tlalolini D.; Aoustin Y.; Chevallereau C. and (2007). MODELING AND OPTIMAL TRAJECTORY PLANNING OF A BIPED ROBOT USING NEWTON-EULER FORMULATION.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 76-83. DOI: 10.5220/0001628200760083

@conference{icinco07,
author={David Tlalolini and Yannick Aoustin and Christine Chevallereau},
title={MODELING AND OPTIMAL TRAJECTORY PLANNING OF A BIPED ROBOT USING NEWTON-EULER FORMULATION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={76-83},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001628200760083},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - MODELING AND OPTIMAL TRAJECTORY PLANNING OF A BIPED ROBOT USING NEWTON-EULER FORMULATION
SN - 978-972-8865-83-2
AU - Tlalolini, D.
AU - Aoustin, Y.
AU - Chevallereau, C.
PY - 2007
SP - 76
EP - 83
DO - 10.5220/0001628200760083

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