Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

Abstract

New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.