Method for Generating Optimal Trajectory of a Biped Robot for Walking Up a Staircase

摘要

Joint present invention relates to a design method created not for the stairs of a humanoid robot that can walk on two legs like a human being subdivided the optimal trajectory of the joint motors, and ankle joints not and not left to right knee , in the optimal trajectory design method for a stair climbing the biped humanoid robot provided with a joint motor for each femoral joint, using a projection (projection) technique calculates the three-dimensional model of the robot, not all the three-dimensional coordinates for the joint obtaining; An operation step of the stair climb, taking into account the energy efficiency to distinguish a plurality of operations; Calculating a torque generated in the joint in each step during stair walking using the length and weight of each link to the robot at each of the divided operating step; Calculating a moment of the zero point of each point in the stairs (zero moment point, ZMP) from the three-dimensional model; Step using a polynomial function (polynomial function) to generate a trajectory of transition to joint motors of stairs; Using the computational optimization techniques and characterized in that it comprises the step of searching for the coefficients of the polynomial function to a computer.