組み合わせ最適化手法による二足歩行ロボットの階段昇降動作生成

抄録

Biped robots are expected to be able to operate in the human living environment. It is necessary to generate walking motions adapted to various grounds. The biped walking motion is determined by the position and timing of the landing point and ensuring stability. Optimal walking motions based on minimizing energy consumption and walking time under stability are derived based on optimization by genetic algorithms. The purpose of this study is to develop a strategy for generating walking gait for biped robots in various environments, such as stairs and obstacles. Gait generation for stair walking is performed by applying the algorithm for generating straight walking by the optimization method using the genetic algorithm. The effectiveness of the proposed method is shown from the obtained generation results.