J4 ›› 2016, Vol. 13 ›› Issue (2): 271-282.doi: 10.1016/S1672-6529(16)60300-1
Energy-efficient Bio-inspired Gait Planning and Control for Biped Robot Based on Human Locomotion Analysis
Hongbo Zhu1,2, Minzhou Luo2, Tao Mei2, Jianghai Zhao2, Tao Li2, Fayong Guo1,2
- 1. Department of Automation, School of Information Science and Technology, University of Science and Technology of China,Hefei 230022, China
2. Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou 213164, China
Energy-efficient Bio-inspired Gait Planning and Control for Biped Robot Based on Human Locomotion Analysis
Hongbo Zhu1,2, Minzhou Luo2, Tao Mei2, Jianghai Zhao2, Tao Li2, Fayong Guo1,2
- 1. Department of Automation, School of Information Science and Technology, University of Science and Technology of China,Hefei 230022, China
2. Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou 213164, China
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 to-wards 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.