二足歩行ロボットの諸元に対応した最適歩行動作の生成

抄録

The purpose of this study is to generate the gait of two-legged robot by using optimization method. Stepping points are determined optimally under the conditions of maximizing walking speed and minimizing energy for walking. The gait generation problem is reduced to a multi-objective combinatorial optimization problem solved by using genetic algorithm. Orbits of toes and hip between stepping points are generated by means of parametric modeling. The stable walking patterns are obtained under the condition of the maximizing walking speed and the minimizing energy consumption. The Pareto front of the multi-objective optimization for the each robot specification is visualized by the NSGA-II. The proposed method can generate an optimum walking gait under the constraints on the stable walking.