| ZMP-based Gait Optimization of the Biped Robot |
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| 引用本文： | 窦瑞军,马培荪,谢玲. ZMP-based Gait Optimization of the Biped Robot[J]. 东华大学学报(英文版), 2003, 20(4) |
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| 作者姓名： | 窦瑞军 马培荪 谢玲 |
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| 作者单位： | Robot Institute，Shanghai Jiao Tong University，Shanghai 200030，Robot Institute，Shanghai Jiao Tong University，Shanghai 200030，University of Shanghai for Science and Technology 200093 |
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| 摘 要： | The gait of the biped robot is described using six parameters such as stature, velocity, length of the step, etc. The algorithm of the Newton-Euler is actualized by object-oriented idea, and then the zero moment point (ZMP) of the dynamically walking biped is calculated. Finally, the gait of biped is optimized using gene algorithm, and the optimized result prove the correctness of the algorithm.
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ZMP-based Gait Optimization of the Biped Robot |
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| DOU Rui-jun,MA Pei-sunRobot Institute,Shanghai Jiao Tong University,Shanghai XIE LingUniversity of Shanghai for Science and Technology. ZMP-based Gait Optimization of the Biped Robot[J]. Journal of Donghua University, 2003, 20(4) |
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| Authors: | DOU Rui-jun MA Pei-sunRobot Institute Shanghai Jiao Tong University Shanghai XIE LingUniversity of Shanghai for Science Technology |
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| Affiliation: | 1. Robot Institute,Shanghai Jiao Tong University,Shanghai 200030
2. University of Shanghai for Science and Technology 200093 |
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| Abstract: | The gait of the biped robot is described using six parameters such as stature, velocity, length of the step, etc. The algorithm of the Newton-Euler is actualized by object-oriented idea, and then the zero moment point (ZMP) of the dynamically walking biped is calculated. Finally, the gait of biped is optimized using gene algorithm, and the optimized result prove the correctness of the algorithm. |
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| Keywords: | biped robot gait design zero moment point (ZMP) genetic algorithm |
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