Optimization based gait pattern generation for a biped robot
- 25 January 2006
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
This paper addresses the problem of gait pattern generation for biped robots. A method based on nonlinear parameter optimization is proposed. Key features of the method are the trajectory description, optimization of only a subset of coordinates and the use of analytical, recursively calculated gradients for cost functions and constraints. The method has been used successfully to calculate walking trajectories for the 3D 17-DOF robot "Johnnie"Keywords
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