Global optimum human-like gaits for an articulated one-legged hopper

机译：铰接式单腿料斗的全局最佳类人步态

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Achieving energy efficiency remains an important goal in legged robot running. This paper presents a novel offline method to generate globally efficient gaits for a point-foot articulated hopping robot. Previous gait generators found in the literature do not reach a global optimum, since takeoff and touch-down (transition) states are pre-specified. In this work, an optimization procedure produces the joint positions and velocities at transitions in addition to flight and stance phase trajectories. The gait achieves either a desired step length, gait period, or average forward velocity. The simulated optimal gait resembles a human hopping gait.

机译：在腿式机器人运行中，实现能源效率仍然是一个重要目标。本文提出了一种新颖的离线方法，可以为点脚关节式跳动机器人生成全局有效的步态。文献中发现的以前的步态发生器无法达到全局最优，因为起飞和着陆（过渡）状态是预先指定的。在这项工作中，除了飞行和姿态阶段轨迹外，优化程序还会在过渡处产生关节位置和速度。步态达到所需的步长，步态周期或平均前进速度。模拟的最佳步态类似于人的跳跃步态。

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《2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics》|2010年|p.391-396|共6页
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中图分类 TH15;
关键词
Energy efficiency; Gait optimization; Hopping robots; Running robots;

机译：能源效率;步态优化;跳跃机器人;跑步机器人;

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3. Human-like Manipulation Planning for Articulated Manipulator [J] . Yahui Gan, Xianzhong Dai 仿生工程学报（英文版） . 2012,第004期

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4. Global optimum human-like gaits for an articulated one-legged hopper [C] . {missing} Institute of Electrical and Electronics Engineers/American Society of Mechanical Engineers international conference on advanced intelligent mechatronics . 2010

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5. Cable-driven articulated rehabilitation system for gait training. [D] . Alamdari, Aliakbar. 2016

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Global optimum human-like gaits for an articulated one-legged hopper

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