A performance comparison between closed form and numerical optimization solutions for humanoid robot walking pattern generation

摘要

This article presents the modeling process of the lower part of a humanoid biped robot in terms of kinematic/dynamic states and the creation of a full dynamic simulation environment for a walking robot using MATLAB/Simulink. This article presents two different approaches for offline walking pattern generation: one relying on a closed-form solution of the linear inverted pendulum model (LIPM) mathematical model and another that considers numerical optimization as means of desired output trajectory following for a cart table state-space model. This article then investigates the possibility of introducing solution-dependent modifications to both approaches that could increase the reliability of basic walking pattern generation models in terms of smooth single support–double support phase transitioning and power consumption optimization. The algorithms were coded into offline walking pattern generators for NAO humanoid robot as a valid example and the two approaches were compared against each other in terms of stability, power consumption, and computational effort as well as against their basic unmodified counterparts.