Energy-efficient Bio-inspired Gait Planning and Control for Biped Robot Based on Human Locomotion Analysis

doi:10.1016/S1672-6529(16)60300-1

CORC > 合肥物质科学研究院 > 中国科学院合肥物质科学研究院 > 中科院合肥物质科学研究院先进制造技术研究所

	Energy-efficient Bio-inspired Gait Planning and Control for Biped Robot Based on Human Locomotion Analysis
	Zhu, Hongbo 1,2; Luo, Minzhou 2; Mei, Tao 2; Zhao, Jianghai 2; Li, Tao 2; Guo, Fayong 1,2
刊名	JOURNAL OF BIONIC ENGINEERING
	2016-04-01
卷号	13 期号:2 页码:271-282
关键词	Motion Capture Allowable Zero Moment Point (Zmp) Variation Region (Azr) Bio-inspired Gait Planning (Bgp) Humanoid Robot
DOI	10.1016/S1672-6529(16)60300-1
文献子类	Article
英文摘要	In this paper an experiment of human locomotion was carried out using a motion capture system to extract the human gait features. The modifiable key gait parameters affecting the dominant performance of biped robot walking were obtained from the extracted human gait features. Based on the modifiable key gait parameters and the Allowable Zero Moment Point (ZMP) Variation Region (AZR), we proposed an effective Bio-inspired Gait Planning (BGP) and control scheme for biped robot towards a given travel distance D. First, we construct an on-line Bio-inspired Gait Synthesis algorithm (BGSN) to generate a complete walking gait motion using the modifiable key gait parameters. Second, a Bio-inspired Gait Parameters Optimization algorithm (BGPO) is established to minimize the energy consumption of all actuators and guarantee biped robot walking with certain walking stability margin. Third, the necessary controllers for biped robot were introduced in briefly. Simulation and experiment results demonstrated the effectiveness of the proposed method, and the gait control system was implemented on DRC-XT humanoid robot.
WOS关键词	HUMAN WALKING ; SYSTEM ; OPTIMIZATION ; PARAMETERS ; STABILITY ; ALGORITHM ; POINT
WOS研究方向	Engineering ; Materials Science ; Robotics
语种	英语
WOS记录号	WOS:000374798000008
资助机构	Project of Science and Technology Support Plan of Jiangsu province(BE2012057) ; Project of Science and Technology Support Plan of Jiangsu province(BE2012057) ; Project of Science and Technology Support Plan of Jiangsu province(BE2012057) ; Project of Science and Technology Support Plan of Jiangsu province(BE2012057) ; Science and Technology Support Plan Key Projects of Jiangsu province(BE2013003) ; Science and Technology Support Plan Key Projects of Jiangsu province(BE2013003) ; Science and Technology Support Plan Key Projects of Jiangsu province(BE2013003) ; Science and Technology Support Plan Key Projects of Jiangsu province(BE2013003) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; Project of Science and Technology Support Plan of Jiangsu province(BE2012057) ; Project of Science and Technology Support Plan of Jiangsu province(BE2012057) ; Project of Science and Technology Support Plan of Jiangsu province(BE2012057) ; Project of Science and Technology Support Plan of Jiangsu province(BE2012057) ; Science and Technology Support Plan Key Projects of Jiangsu province(BE2013003) ; Science and Technology Support Plan Key Projects of Jiangsu province(BE2013003) ; Science and Technology Support Plan Key Projects of Jiangsu province(BE2013003) ; Science and Technology Support Plan Key Projects of Jiangsu province(BE2013003) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469)
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/22390]
专题	合肥物质科学研究院_中科院合肥物质科学研究院先进制造技术研究所
作者单位	1.Univ Sci & Technol China, Sch Informat Sci & Technol, Dept Automat, Hefei 230022, Peoples R China 2.Chinese Acad Sci, Inst Adv Mfg Technol, Hefei Inst Phys Sci, Changzhou 213164, Peoples R China
推荐引用方式 GB/T 7714	Zhu, Hongbo,Luo, Minzhou,Mei, Tao,et al. Energy-efficient Bio-inspired Gait Planning and Control for Biped Robot Based on Human Locomotion Analysis[J]. JOURNAL OF BIONIC ENGINEERING,2016,13(2):271-282.
APA	Zhu, Hongbo,Luo, Minzhou,Mei, Tao,Zhao, Jianghai,Li, Tao,&Guo, Fayong.(2016).Energy-efficient Bio-inspired Gait Planning and Control for Biped Robot Based on Human Locomotion Analysis.JOURNAL OF BIONIC ENGINEERING,13(2),271-282.
MLA	Zhu, Hongbo,et al."Energy-efficient Bio-inspired Gait Planning and Control for Biped Robot Based on Human Locomotion Analysis".JOURNAL OF BIONIC ENGINEERING 13.2(2016):271-282.