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

摘要

The present invention is not to the stairs of a humanoid robot that can walk on two legs like a human joint motor of relates to a method for designing optimal trajectories generated by segmentation, the right to the left to the ankle and the knee joint, in the optimal trajectory design method for coming down the stairs of a biped humanoid robot having an articulated motor on each thigh joints , comprising using a projection (projection) technique to compute the 3-D model of the robot to obtain the three-dimensional coordinates for all no joint; The operation of the stair step to come down in consideration of the energy efficiency to distinguish a plurality of operations; Calculating a joint torque generated in each step during stair walking using the length and the weight of each link to the robot at each operating phase the separated; Calculating for each point, zero moment point (zero moment point, ZMP) from the stairs when the three-dimensional model; Using a polynomial function (polynomial function) to produce a change of trajectory of the stairs to the joint motor; Using a computational optimization technique is characterized in that it comprises the step of searching for the coefficients of the polynomial functions by a computer.