Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

International Conference on Information Technologies in Business and Industry 2016

计算机科学;经济学;工业技术

Khusainov, R.^1 ; Klimchik, A.^1 ; Magid, E.^2

Intelligent Robotic Systems Laboratory, Innopolis University, Innopolis City, Russia^1

Higher Institute of Information Technology and Information Systems, Kazan Federal University, Kazan, Russia^2

关键词: Biped Robot;    Comparison analysis;    Dynamic optimization;    Joint limits;    Kinematic optimization;    Trajectory optimization;    Unstable solutions;    Upper bodies;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/803/1/012069/pdf
DOI  :  10.1088/1742-6596/803/1/012069

来源: IOP

【 摘 要 】

The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.