Form of presentation | Articles in international journals and collections |
Year of publication | 2018 |
Язык | английский |
|
Magid Evgeniy Arkadevich, author
|
Bibliographic description in the original language |
Khusainov R. Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion / Klimchik, A., Magid, E. // Lecture Notes in Electrical Engineering. - 2018. - № 430. - p. 293-320. |
Annotation |
Humanoid robot related research keeps attracting many researchers nowadays because of a high potential of bipedal locomotion. While many researchers concentrate on a robot body movement due to its direct contribution to the robot dynamics, the optimality of a leg trajectory has not been studied in details yet. Our paper is targeted to decrease this obvious gap and deals with optimal trajectory planning for bipedal humanoid robot walking. The main attention is paid to maximization of locomotion speed while considering velocity, acceleration and power limitations of each joint. The kinematic and dynamic approaches are used to obtain a desired optimal trajectory. Obtained results provide higher robot performance comparing to commonly used trajectories for control bipedal robots. |
Keywords |
Bipedal walking, Humanoids, Optimal trajectory planning |
The name of the journal |
Lecture Notes in Electrical Engineering
|
URL |
https://link.springer.com/chapter/10.1007/978-3-319-55011-4_15 |
Please use this ID to quote from or refer to the card |
https://repository.kpfu.ru/eng/?p_id=170758&p_lang=2 |
Resource files | |
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Full metadata record |
Field DC |
Value |
Language |
dc.contributor.author |
Magid Evgeniy Arkadevich |
ru_RU |
dc.date.accessioned |
2018-01-01T00:00:00Z |
ru_RU |
dc.date.available |
2018-01-01T00:00:00Z |
ru_RU |
dc.date.issued |
2018 |
ru_RU |
dc.identifier.citation |
Khusainov R. Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion / Klimchik, A., Magid, E. // Lecture Notes in Electrical Engineering. - 2018. - № 430. - p. 293-320. |
ru_RU |
dc.identifier.uri |
https://repository.kpfu.ru/eng/?p_id=170758&p_lang=2 |
ru_RU |
dc.description.abstract |
Lecture Notes in Electrical Engineering |
ru_RU |
dc.description.abstract |
Humanoid robot related research keeps attracting many researchers nowadays because of a high potential of bipedal locomotion. While many researchers concentrate on a robot body movement due to its direct contribution to the robot dynamics, the optimality of a leg trajectory has not been studied in details yet. Our paper is targeted to decrease this obvious gap and deals with optimal trajectory planning for bipedal humanoid robot walking. The main attention is paid to maximization of locomotion speed while considering velocity, acceleration and power limitations of each joint. The kinematic and dynamic approaches are used to obtain a desired optimal trajectory. Obtained results provide higher robot performance comparing to commonly used trajectories for control bipedal robots. |
ru_RU |
dc.language.iso |
ru |
ru_RU |
dc.subject |
Bipedal walking |
ru_RU |
dc.subject |
Humanoids |
ru_RU |
dc.subject |
Optimal trajectory planning |
ru_RU |
dc.title |
Kinematic and dynamic approaches in gait optimization for humanoid robot locomotion |
ru_RU |
dc.type |
Articles in international journals and collections |
ru_RU |
|