https://scholars.lib.ntu.edu.tw/handle/123456789/447296
標題: | A real-time optimal energy-saving walking pattern generator based on gradient descent method and linear quadratic control | 作者: | Hsu, H.-K. Huang, H.-P. Huang, M.-B. HAN-PANG HUANG |
關鍵字: | COG height trajectory database; joint limit; joint speed limit; linear quadratic control; Walking pattern generation | 公開日期: | 2019 | 卷: | 33 | 期: | 10 | 起(迄)頁: | 487-507 | 來源出版物: | Advanced Robotics | 摘要: | Many recent approaches have successfully generated a stable walking pattern for biped robots, but discussions about its optimization are relatively few. In this paper, a Center of Gravity (COG) trajectory optimization method is proposed to minimize the cost function of joint torque, joint limit, and joint speed limit. The linear quadratic control-based inverted pendulum controller optimizes the COG trajectories in sagittal and lateral directions with the COG height trajectory. The COG height trajectory is optimized by finding the derivative of the cost function with respect to the COG height offline. Then the proposed walking pattern generator builds the COG height trajectory database of different walking steps for online connection of a walking pattern. The walking pattern generator is verified by experiments and simulations of different step cycles with our humanoid robot, NINO, and it can clearly reduce the required joint torque of the robot while walking. In addition, compared with the fixed COG height trajectory, the energy consumption is reduced by 14% from the experimental results. Thus, the method succeeds in generating a more energy-saving walking pattern. © 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/447296 | DOI: | 10.1080/01691864.2019.1600425 | SDG/關鍵字: | Anthropomorphic robots; Biped locomotion; Cost functions; Energy conservation; Energy utilization; Linear control systems; Trajectories; Joint limits; Linear quadratic control; Speed limit; Trajectory database; Walking pattern generation; Optimization |
顯示於: | 機械工程學系 |
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