Gait Control of Humanoid Robots via Fuzzy Logic and Iterative Optimization
A kind of gait control method via fuzzy logic and iterative optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots.A strategy of energy consumption estimation (ECE) and an algorithm of energy-efficiency optimization are proposed based on three important indexes of energy consumption for biped locomotion.Firstly,trajectory of the trunk is tuned according to ZMP-based fuzzy rules when leg motions deviate from walking reference trajectory,which ensure the ZMP falling into the stability domain.Secondly,a strategy of ECE for biped walking robots is proposed,and the energy consumption of the trunk is estimated.Finally,an iterative optimization algorithm based on ECE is proposed to optimize the estimated trajectory of the trunk which has been derived from fuzzy ZMP tuning model qualitatively.The proposed method is applied to a robotic system.Simulations and experimental results show the validity of the method.
WANG Li-Yang LIU Zhi ZENG Xiao-Jie ZHANG Yun
Department of Electronic Engineering,Shunde Polytechnic,Foshan Guangdong 528300,P.R.China Faculty of Faculty of Automation,Guangdong University of Technology,Guangzhou Guangdong 510006,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）