METHOD FOR GENERATING AN OPTIMAL TRAJECTORY OF A BIPED ROBOT FOR WALKING UP A STAIRCASE, CAPABLE OF ACCURATELY CALCULATING OPTIMAL TRAJECTORY

摘要

PURPOSE: A method for generating an optimal trajectory of a biped robot for walking up a staircase is provided to calculate exact stride by calculating the dynamics and zero moment point as each stair walk step.;CONSTITUTION: A method for generating an optimal trajectory of a biped robot for walking up a staircase comprises following steps. Three-dimensional coordinates on all leg joints are obtained by calculating the three-dimensional model of a robot through a projecting technique. Step climbing motion is divided into multiple motions. During the stair walk, the torque of the joint is calculated as each step using the length and mass of each link of robot leg. ZMP is calculated from the three-dimensional model.;COPYRIGHT KIPO 2011