KFU. Card publication. Swing leg trajectory optimization for a humanoid robot locomotion

KAZAN
FEDERAL UNIVERSITY

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SWING LEG TRAJECTORY OPTIMIZATION FOR A HUMANOID ROBOT LOCOMOTION

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2016

Язык

английский

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Khusainov R., Klimchik A., Magid E. Swing leg trajectory optimization for a humanoid robot locomotion // The 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016) (Lisbon, Portugal; 29-31 July 2016) - p. 130-141.

Annotation

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016)

Keywords

Humanoids, Bipedal Walking, Swing Phase, Optimal Trajectory Planning, Dynamic Programming

The name of the journal

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016)

URL

https://www.scitepress.org/PublicationsDetail.aspx?ID=zzalb9kBdvQ=&t=1

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

https://repository.kpfu.ru/eng/?p_id=257547&p_lang=2

Resource files

File name	Size (MB)	Format
2016_Swing_Leg_Trajectory_Optimization_for_a__umanoid_Robot_Locomotion.pdf	1,45	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2016-01-01T00:00:00Z	ru_RU
dc.date.available	2016-01-01T00:00:00Z	ru_RU
dc.date.issued	2016	ru_RU
dc.identifier.citation	Khusainov R., Klimchik A., Magid E. Swing leg trajectory optimization for a humanoid robot locomotion // The 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016) (Lisbon, Portugal; 29-31 July 2016) - p. 130-141.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257547&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016)	ru_RU
dc.description.abstract	The problem of walking trajectory optimisation for bipedal humanoid robots attracts many researchers because of excessive interest to bipedal locomotion. The main focus is usually on robot dynamics and trajectory planning for predefined walking primitives. In contrast to other works, our paper targets to obtain optimal walking primitive for swing leg trajectory of bipedal humanoid robot walking. Optimal walking primitives are obtained taking into account velocity and acceleration physical limitations of each joint and are derived for different walking parameters such as step size and hip height. To obtain a desired time-optimal trajectory dynamic programing approach is used. It is shown that a new trajectory is performed within a shorter time comparing with commonly used locomotion trajectories for bipedal robots control. The results allow us to assign walking parameters and corresponding walking primitive that maximize robot velocity for predefined environment constraints.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Humanoids	ru_RU
dc.subject	Bipedal Walking	ru_RU
dc.subject	Swing Phase	ru_RU
dc.subject	Optimal Trajectory Planning	ru_RU
dc.subject	Dynamic Programming	ru_RU
dc.title	Swing leg trajectory optimization for a humanoid robot locomotion	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU