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자료유형
학술저널
저자정보
저널정보
대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.20 No.5
발행연도
2006.5
수록면
612 - 620 (9page)

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초록· 키워드

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This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy; walking on even ground, ascending stairs, and descending stairs.

목차

Abstract
1. Introduction
2. Dynamics of Biped Robot Model
3. Constraints
4. Genetic Algorithms for Optimization
5. Simulations
6. Conclusion
Acknowledgments
References
Appendix A

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