KFU. Card publication. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

KAZAN
FEDERAL UNIVERSITY

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COMPARISON OF KINEMATIC AND DYNAMIC LEG TRAJECTORY OPTIMIZATION TECHNIQUES FOR BIPED ROBOT LOCOMOTION

Form of presentation

Articles in international journals and collections

Year of publication

2017

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Khusainov R. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion / Klimchik A., Magid E. // Journal of Physics: Conference Series. - 2017. - � 803 (1).

Annotation

The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

Keywords

leg trajectory, robotics

The name of the journal

Journal of Physics: Conference Series

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018291159&doi=10.1088%2f1742-6596%2f803%2f1%2f012069&partnerID=40&md5=85cf23fe4e9b67dc40dae3796c3424bc

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=158277&p_lang=2

Resource files

File name	Size (MB)	Format
F_2017_Comparison_of_kinematic_and_dynamic_leg_trajectory_optimization_techniques_for_biped_robot_locomotion__1_.pdf	1,34	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Khusainov R. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion / Klimchik A., Magid E. // Journal of Physics: Conference Series. - 2017. - � 803 (1).	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=158277&p_lang=2	ru_RU
dc.description.abstract	Journal of Physics: Conference Series	ru_RU
dc.description.abstract	The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	leg trajectory	ru_RU
dc.subject	robotics	ru_RU
dc.title	Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion	ru_RU
dc.type	Articles in international journals and collections	ru_RU