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Authors: Mathieu Hobon 1 ; Nafissa Lakbakbi Elyaaqoubi 2 and Gabriel Abba 2

Affiliations: 1 Design Manufacturing Control Lab and ENSAM, France ; 2 Design Manufacturing Control Lab and ENIM, France

Keyword(s): Walking Robot, Optimization Gait, Parametric Trajectory, Knee Kinematic.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper addresses an optimization problem of trajectories for a biped robot with a new modelled structure of knees which is called rolling knee (RK). The first part of article is to present the new kinematic knee on a biped robot and the different models used to know the dynamic of the robot during a walking step. The gait is cyclic and simplified by a Single Support Phase (SSP) followed by an impact. The second part is a comparison of the influence of the gait trajectory on the control, using cubic spline functions as well as the {\it B\'ezier} functions. The energetic criterion is minimized through optimization while using the simplex algorithm and the Lagrange penalty functions to meet the constraints of stability and deflection of mobile foot. The main result is the using of Bézier functions permit to improve the energy gain in slow walking speeds. These trajectories permit to the biped robot to walk progressively without energy disturbance unlike those with cubic spline funct ions. (More)

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Paper citation in several formats:
Hobon, M.; Lakbakbi Elyaaqoubi, N. and Abba, G. (2013). Gait Optimization of a Rolling Knee Biped at Low Walking Speeds. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-71-6; ISSN 2184-2809, SciTePress, pages 207-214. DOI: 10.5220/0004457402070214

@conference{icinco13,
author={Mathieu Hobon. and Nafissa {Lakbakbi Elyaaqoubi}. and Gabriel Abba.},
title={Gait Optimization of a Rolling Knee Biped at Low Walking Speeds},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2013},
pages={207-214},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004457402070214},
isbn={978-989-8565-71-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Gait Optimization of a Rolling Knee Biped at Low Walking Speeds
SN - 978-989-8565-71-6
IS - 2184-2809
AU - Hobon, M.
AU - Lakbakbi Elyaaqoubi, N.
AU - Abba, G.
PY - 2013
SP - 207
EP - 214
DO - 10.5220/0004457402070214
PB - SciTePress

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