Energy-efficiency-based gait control system architecture and algorithm for biped robots
Liu Z.2; Wang L.2; Philip Chen C.L.3; Zeng X.2; Zhang Y.2; Wang Y.1
2012
Source PublicationIEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews
ISSN10946977
Volume42Issue:6Pages:926-933
AbstractA novel systematic architecture and algorithm of gait control based on energy-efficiency optimization is represented, aiming at the fatal problem of high energy consumption for biped robots walking in unstructured environments. By designing an optimal controller to minimize the energy criterion, the proposed method provides a remarkable descend rate of energy consumption in the trunk-rotation walking mechanism. The proposed algorithm is able to optimize the trunk trajectory by minimizing the energy-related cost function while guaranteeing zero-moment point (ZMP) criterion. Simulations and experimental results show the validity of the method. © 2012 IEEE.
KeywordBiped robot energy efficiency gait control zero-moment point (ZMP)
DOI10.1109/TSMCC.2011.2173191
URLView the original
Language英語
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Cited Times [WOS]:24   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Affiliation1.Hunan University
2.Guangdong University of Technology
3.Universidade de Macau
4.University of Texas at San Antonio
Recommended Citation
GB/T 7714
Liu Z.,Wang L.,Philip Chen C.L.,et al. Energy-efficiency-based gait control system architecture and algorithm for biped robots[J]. IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews,2012,42(6):926-933.
APA Liu Z.,Wang L.,Philip Chen C.L.,Zeng X.,Zhang Y.,&Wang Y..(2012).Energy-efficiency-based gait control system architecture and algorithm for biped robots.IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews,42(6),926-933.
MLA Liu Z.,et al."Energy-efficiency-based gait control system architecture and algorithm for biped robots".IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews 42.6(2012):926-933.
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