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Digital Object Identifier (DOI) : 10.14569/IJARAI.2013.020908
Article Published in International Journal of Advanced Research in Artificial Intelligence(IJARAI), Volume 2 Issue 9, 2013.
Abstract: This paper addresses a gait generation problem for the compass-type biped robot on periodically unlevel grounds. We first derive the continuous/discrete compass-type biped robots (CCBR/DCBR) via continuous/discrete mechanics, respectively. Next, we formulate a optimal gait generation problem on periodically unlevel grounds for the DCBR as a finite dimensional nonlinear optimization problem, and show that a discrete control input can be obtained by solving the optimization problem with the sequential quadratic programming. Then, we develop a transformation method from a discrete control input into a continuous zero-order hold input based on the discrete Lagranged’Alembert principle. Finally, we show numerical simulations, and it turns out that our new method can generate a stable gaits on a periodically unlevel ground for the CCBR.
Tatsuya Kai and Takeshi Shintani, “A Discrete Mechanics Approach to Gait Generation on Periodically Unlevel Grounds for the Compass-type Biped Robot” International Journal of Advanced Research in Artificial Intelligence(IJARAI), 2(9), 2013. http://dx.doi.org/10.14569/IJARAI.2013.020908