Abstract
In this paper, we study an inverse kinematics problem in which the trajectories of walking robot toes are generated under the condition of minimum walking energy. It is important for a walking robot that motions of legs are determined to achieve a desired body operation. A 4-legged walking robot with two rinks and two motors at joints of waist and knee is assumed in this study. A mathematical optimization method is used for optimization of several parameters which describe the trajectory function of toe. We use a neural network controller to obtain trajectory parameters to control walking robot in real time. Some trained neural network controllers for several obstacle shapes are used by changing for each obstacle.
