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TECHNICAL PAPERS

Optimal Biped Walking Locomotion Solved by Trajectory Planning Method

[+] Author and Article Information
Kyosuke Ono

Department of Mechanical Engineering and Control, Tokyo Institute of Technology, 2-12-1, Ohokayama, Meguro-ku, Tokyo, 152-8552, Japane-mail: ono@mech.titech.ac.jp

Rongqiang Liu

Department of Mechanical Engineering, Harbin Institute of Technology, 92 West Dazhi St., Nangang, Harbin, 150001, Chinae-mail: liurongqiang@hotmail.com

J. Dyn. Sys., Meas., Control 124(4), 554-565 (Dec 16, 2002) (12 pages) doi:10.1115/1.1515324 History: Received April 01, 2001; Revised January 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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References

Figures

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Biped walking mechanism
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Phases of one step walking
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3-dof analytical model of a biped walking mechanism
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Change of constraints by foot change
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Analytical model of a link at the instant of collision
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Flowchart of the calculation algorithm
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Stick figures under full-actuated condition
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Joint input torque under full-actuated condition
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Link angular velocities under full-actuated condition
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Joint input torque when u1=0
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Link angular velocities when u1=0
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Joint input torque when u3=0
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Link angular velocities when u3=0
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Performance index J value
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1st phase period t1 and one step walking period t1+t2 versus t2
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J values as a function of t2 in two cases with and without knee collision
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Performance index value based on 7th and 9th approximations
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Optimal J value versus t2 for various step length values
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Walking period and average speed V̄ of optimal walking versus step length in full-actuated condition
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Stick figures and angular velocities of forward dynamic simulation in full-actuated condition
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Stick figures and angular velocities of forward dynamic simulation putting u1=0
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Optimal trajectory solution at t1=0.53 s and t2=0.09 s
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Performance index and one step period in two cases with and without upper body mass

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