КФУ. Карточка публикации. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

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COMPARISON OF KINEMATIC AND DYNAMIC LEG TRAJECTORY OPTIMIZATION TECHNIQUES FOR BIPED ROBOT LOCOMOTION

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2017

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Библиографическое описание на языке оригинала

Khusainov R. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion / Klimchik A., Magid E. // Journal of Physics: Conference Series. - 2017. - № 803 (1).

Аннотация

The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

Ключевые слова

leg trajectory, robotics

Название журнала

Journal of Physics: Conference Series

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018291159&doi=10.1088%2f1742-6596%2f803%2f1%2f012069&partnerID=40&md5=85cf23fe4e9b67dc40dae3796c3424bc

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https://repository.kpfu.ru/?p_id=158277

Файлы ресурса

Название файла	Размер (Мб)	Формат
F_2017_Comparison_of_kinematic_and_dynamic_leg_trajectory_optimization_techniques_for_biped_robot_locomotion__1_.pdf	1,34	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Khusainov R. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion / Klimchik A., Magid E. // Journal of Physics: Conference Series. - 2017. - № 803 (1).	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=158277	ru_RU
dc.description.abstract	Journal of Physics: Conference Series	ru_RU
dc.description.abstract	The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	leg trajectory	ru_RU
dc.subject	robotics	ru_RU
dc.title	Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU