Optimal Trajectory Planning Method for Biped Walking Robot (3rd Report, Analysis of Upper Body Mass Model under Inequality State Constraint and Experimental Verification

Abstract

In research of biped walking robot, energy-efficiency is an important issue. We have proposed an optimal trajectory planning method based on a function approximation method, and applied it for 2D biped walking model. With this method, we obtained the solution of minimal square integration value of the input torque under equality state constraint condition. In this study we further consider-ed inequality state constraint to restrict the range of joint angle, and applied it for the model with upper body mass. In addition, we conducted the experiment to verify the effectiveness of this method. We realized the stable walking of 0.6 s period, 0.3 m/s. Finally, we evaluated the energy-efficiency by specific cost.