Gait Optimization of Biped Robot during Double Support Phase by Pure Dynamic Synthesis

摘要

This paper deals with dynamic optimization of biped locomotion.The main focus of this research is motion optimization of double support phase.The optimization problem is dealt by using Pontryagins Maximum Principal.For motion optimization of double support phase, the closed kinematic chain has been considered to be opened at appropriate joint and the components of ground reaction forces has been applied on the tip of front leg and finally the penalty method has been used to tighten the leg to its prescribed location.The feasible sets of motion are taken into consideration by using inequality constraint to limit the joint motion.Also the components of ground reaction forces on front leg have been introduced as control variables in optimization of double support phase.The proposed technique has the ability to generate optimal free motions without specifying joint trajectories and minimized the performance criterion based on joint actuating torques.The two point boundary value problem has been solved by implementing a shooting method.This technique allows for specifying a few parameters to characterize gait pattern.The optimization process has the ability to generate a motion with a minimum of postural and kinematics data.Unlike previous research which used computational intelligent techniques for biped gait optimization, this study focuses on development of purely dynamic synthesis of biped motion during the double support phase.