Gait Generation for the Compass-Type Biped Robot on General Irregular Grounds Via a New Blending Method of Discrete Mechanics and Nonlinear optimization

摘要

This paper develops a unified gait generation method based on discrete mechanics and nonlinear optimization technique for the compass-type biped robot on general irregular grounds. First, we derive the models of continuous-time/discrete-time compass-type biped robot (DCBR/CCBR). Next, a discrete gait generation problem on an irregular ground for the DCBR as a finite-dimensional nonlinear optimal control problem is formulated, and a solving method of it with the sequential quadratic programming is presented. Then, a transformation method of a discrete-time input into a continuous-time one is shown. Finally, some numerical simulations are illustrated to verify the effectiveness of our new approach. As a result, it is confirmed that the new method can generate stable gaits for the CCBR on various irregular grounds...