110 Robust Optimization of the Gait for a Biped Robot Based on External Factors

摘要

If a biped robot has no sensors, it would slip or can not walk. However, it is worth pointing out, some biped robots can walk without sensors. They have only servo actuators to move their body or legs. In such a case, walking biped robots are affected external factors that are friction or restitution between bottoms of its feet and floors. The floor's surface, location or materials change these factors. Thus, biped robots can walk if they use the gait for them including their factors. In this paper, we study to optimize the gait for biped robots by using robust optimization considered random values as floor's friction and restitution. In addition, the generated gait is simple for the small and low cost robot.