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Parametric-based dynamic synthesis of 3D-gait

Published online by Cambridge University Press:  07 July 2009

Guy Bessonnet ,
Jérôme Marot ,
Pascal Seguin  and
Philippe Sardain
Guy Bessonnet*
Affiliation:
Laboratoire de Mécanique des Solides, CNRS-UMR6610, Université de Poitiers, SP2MI, Bd. M. & P. Curie, BP 30179, 86962 Futuroscope Chasseneuil cedex, France
Jérôme Marot
Affiliation:
Laboratoire de Mécanique des Solides, CNRS-UMR6610, Université de Poitiers, SP2MI, Bd. M. & P. Curie, BP 30179, 86962 Futuroscope Chasseneuil cedex, France
Pascal Seguin
Affiliation:
Laboratoire de Mécanique des Solides, CNRS-UMR6610, Université de Poitiers, SP2MI, Bd. M. & P. Curie, BP 30179, 86962 Futuroscope Chasseneuil cedex, France
Philippe Sardain
Affiliation:
Laboratoire de Mécanique des Solides, CNRS-UMR6610, Université de Poitiers, SP2MI, Bd. M. & P. Curie, BP 30179, 86962 Futuroscope Chasseneuil cedex, France
*
*Corresponding author. E-mail: guy.bessonnet@orange.fr
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Summary

This paper describes a dynamic synthesis method for generating optimal walking patterns of biped robots having a human-like locomotion system. The generating principle of gait is based on the minimisation of driving torques. A parametric optimisation technique is used to solve the underlying optimal control problem. Special attention is devoted to foot-ground interactions in order to ensure a steady dynamic balance of the biped. Transition states between step sub-phases are fully optimised together with step length and sub-phase lengths with respect to a given walking velocity. The data needed to generate purely cyclic steps can be reduced to the forward velocity.

Keywords

3D-gaitGait synthesisParametric optimisationSpline-based parameterisation
Type
Article
Information
Robotica , Volume 28 , Issue 4 , July 2010 , pp. 563 - 581
Copyright
Copyright © Cambridge University Press 2009

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