|
Abstract: Based on the 7-link dynamic model, motion of the swing leg
of biped robot is planned into a parabola to keep self-balance in
lateral plane and body swings forward and backward to dynamically
balance in sagittal plane. Then the gait of the biped is specified by
parameters such as walking velocity, step length and height, and the
genetic algorithm is applied to obtain the optimal parameters on
condition of keeping dynamic stability and the minimum of the value of
the dynamic balance. Finally the simulation of walking is presented.
Key words: Biped robot Parametric gait Gait optimization Genetic
algorithm
CLC No: TP242
Received 20010118,
received in revised form 20011020
|