Bipedal Walking Trajectory Generation Using Tchebychev Method

摘要

It is still important and difficult for a biped robot to optimally generate the stable walking trajectory, because the mechanical limitations of the given biped robot should be also considered carefully. In this paper, we assume that different walking trajectories enable to be generated according to various set of weights of torques loaded in each partial joint (e.g., ankle, knee, and hip joint). We present a method for generating various bipedal walking trajectories corresponding to a set of weighted torques. For this purpose, Tchebychev method and sequential quadratic programming are employed to optimize single cost functions consisting in a set of weight torques. Some notations and constraints introduced in [1] are used and modified in this paper.