A Discrete Mechanics Approach to Gait Generation on Periodically Unlevel Grounds for the Compass-type Biped Robot

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

@article{Kai2013,
title = {A Discrete Mechanics Approach to Gait Generation on Periodically Unlevel Grounds for the Compass-type Biped Robot},
journal = {International Journal of Advanced Research in Artificial Intelligence},
doi = {10.14569/IJARAI.2013.020908},
url = {http://dx.doi.org/10.14569/IJARAI.2013.020908},
year = {2013},
publisher = {The Science and Information Organization},
volume = {2},
number = {9},
author = {Tatsuya Kai and Takeshi Shintani}
}