Optimization of the Parameters of Feet and the Laws of Motion of Bipedal Walking Robots

We study the problem of joint optimization of the linear dimensions of feet and the laws of motion of bipedal walking robots. A robot is modeled as a plane system of nine rigid bodies and its gait is studied on double-step segments by taking into account the main rhythmic, kinematic, and dynamic spe...

Full description

Saved in:
Bibliographic Details
Published in:Journal of mathematical sciences (New York, N.Y.) N.Y.), 2023-02, Vol.270 (1), p.214-236
Main Authors: Demydyuk, M. V., Lytwyn, B. A.
Format: Article
Language:English
Subjects:
Algorithms
Analysis
Kinematics
Laws, regulations and rules
Mathematics
Mathematics and Statistics
Nonlinear programming
Numerical analysis
Optimization
Parameters
Rigid structures
Robot dynamics
Robotics industry
Robots
Simulation methods
Walking
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We study the problem of joint optimization of the linear dimensions of feet and the laws of motion of bipedal walking robots. A robot is modeled as a plane system of nine rigid bodies and its gait is studied on double-step segments by taking into account the main rhythmic, kinematic, and dynamic specific features of anthropomorphic motion. The nonstationary bilateral restrictions are imposed on the supporting reactions of the feet and a quadratic (in terms of control) functional is chosen as the criterion of optimal motion of the system. We propose an algorithm for the construction of a suboptimal solution of the problem based on the approximation of generalized coordinates of the robot by cubic smoothing splines (with unknown parameters) and the application of some numerical procedures of nonlinear programming.
ISSN:1072-3374
1573-8795
DOI:10.1007/s10958-023-06342-z