KFU. Card publication. Kinematic and dynamic approaches in gait optimization for humanoid robot locomotion

KAZAN
FEDERAL UNIVERSITY

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KINEMATIC AND DYNAMIC APPROACHES IN GAIT OPTIMIZATION FOR HUMANOID ROBOT LOCOMOTION

Form of presentation

Articles in international journals and collections

Year of publication

2018

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Khusainov R. Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion / Klimchik, A., Magid, E. // Lecture Notes in Electrical Engineering. - 2018. - � 430. - p. 293-320.

Annotation

Humanoid robot related research keeps attracting many researchers nowadays because of a high potential of bipedal locomotion. While many researchers concentrate on a robot body movement due to its direct contribution to the robot dynamics, the optimality of a leg trajectory has not been studied in details yet. Our paper is targeted to decrease this obvious gap and deals with optimal trajectory planning for bipedal humanoid robot walking. The main attention is paid to maximization of locomotion speed while considering velocity, acceleration and power limitations of each joint. The kinematic and dynamic approaches are used to obtain a desired optimal trajectory. Obtained results provide higher robot performance comparing to commonly used trajectories for control bipedal robots.

Keywords

Bipedal walking, Humanoids, Optimal trajectory planning

The name of the journal

Lecture Notes in Electrical Engineering

URL

https://link.springer.com/chapter/10.1007/978-3-319-55011-4_15

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

https://repository.kpfu.ru/eng/?p_id=170758&p_lang=2

Resource files

File name	Size (MB)	Format
2018_Kinematic_and_dynamic_approaches_in_gait_optimization_for_humanoid_robot_locomotion.pdf	1,15	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	Khusainov R. Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion / Klimchik, A., Magid, E. // Lecture Notes in Electrical Engineering. - 2018. - � 430. - p. 293-320.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=170758&p_lang=2	ru_RU
dc.description.abstract	Lecture Notes in Electrical Engineering	ru_RU
dc.description.abstract	Humanoid robot related research keeps attracting many researchers nowadays because of a high potential of bipedal locomotion. While many researchers concentrate on a robot body movement due to its direct contribution to the robot dynamics, the optimality of a leg trajectory has not been studied in details yet. Our paper is targeted to decrease this obvious gap and deals with optimal trajectory planning for bipedal humanoid robot walking. The main attention is paid to maximization of locomotion speed while considering velocity, acceleration and power limitations of each joint. The kinematic and dynamic approaches are used to obtain a desired optimal trajectory. Obtained results provide higher robot performance comparing to commonly used trajectories for control bipedal robots.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Bipedal walking	ru_RU
dc.subject	Humanoids	ru_RU
dc.subject	Optimal trajectory planning	ru_RU
dc.title	Kinematic and dynamic approaches in gait optimization for humanoid robot locomotion	ru_RU
dc.type	Articles in international journals and collections	ru_RU