A performance comparison between closed form and numerical optimization solutions for humanoid robot walking pattern generation

International Journal of Advanced Robotic Systems

article

Samer A Mohamed¹  Shady A Maged¹  Mohammed I Awad¹ 

[1] Mechatronics Engineering Department, Ain Shams University;Mechanical Engineering Department, Galala University

关键词: Bipedal;    model-predictive control;    humanoid;    cart-table model;    cost of transport;    linear inverted pendulum model;    zero moment point;    bio-inspired robotics;    trajectories;    center of mass;   

DOI  :  10.1177/17298814211029774

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

This article presents the modeling process of the lower part of a humanoid biped robot in terms of kinematic/dynamic states and the creation of a full dynamic simulation environment for a walking robot using MATLAB/Simulink. This article presents two different approaches for offline walking pattern generation: one relying on a closed-form solution of the linear inverted pendulum model (LIPM) mathematical model and another that considers numerical optimization as means of desired output trajectory following for a cart table state-space model. This article then investigates the possibility of introducing solution-dependent modifications to both approaches that could increase the reliability of basic walking pattern generation models in terms of smooth single support–double support phase transitioning and power consumption optimization. The algorithms were coded into offline walking pattern generators for NAO humanoid robot as a valid example and the two approaches were compared against each other in terms of stability, power consumption, and computational effort as well as against their basic unmodified counterparts.

【 授权许可】

CC BY