Trajectory optimization of Biped Robots with Maximum Load Carrying Capacities: Iterative Linear Programming Approach

  • سال انتشار: 1402
  • محل انتشار: فصلنامه بین المللی مهندسی صنایع و تحقیقات تولید، دوره: 34، شماره: 3
  • کد COI اختصاصی: JR_IJIEPR-34-3_013
  • زبان مقاله: انگلیسی
  • تعداد مشاهده: 26
دانلود فایل این مقاله

نویسندگان

Ammar Fadhil Al-Maliki

Iran university of science and Technology

Moharam Habibnejad Korayem

Iran University of science and technology

چکیده

A computational approach is presented to obtain the optimal path of the end-effector for the ۱۰ DOF bipedal robot to increase its load carrying capacity for a given task from point to point. The synthesizing optimal trajectories problem of a robot is formulated as a problem of trajectory optimization. An Iterative Linear Programming method (ILP) is developed for finding a numerical solution for this nonlinear trajectory. This method is used for determining the maximum dynamic load carrying capacity of bipedal robot walking subjected to torque actuators, stability and jerk limits constraints. First, the Lagrangian dynamic equation should be written to be suitable for the load dynamics which together with kinematic equations are substantial for determining the optimal trajectory. After that, a representation of the state space of the dynamic equations is introduced also the linearized dynamic equations are needed to obtain the numerical solution of the trajectory optimization followed by formulation for the optimal trajectory problem with a maximum load. Finally, the method of ILP and the computational aspect is applied to solve the problem of trajectory synthesis and determine the dynamic load carrying capacity (DLCC) to the bipedal robot for each of the linear and circular path. By implementing on an experimental biped robot, the simulation results were validated.

کلیدواژه ها

Dynamic load, biped robots, optimal trajectory, actuator constraint

اطلاعات بیشتر در مورد COI

COI مخفف عبارت CIVILICA Object Identifier به معنی شناسه سیویلیکا برای اسناد است. COI کدی است که مطابق محل انتشار، به مقالات کنفرانسها و ژورنالهای داخل کشور به هنگام نمایه سازی بر روی پایگاه استنادی سیویلیکا اختصاص می یابد.

کد COI به مفهوم کد ملی اسناد نمایه شده در سیویلیکا است و کدی یکتا و ثابت است و به همین دلیل همواره قابلیت استناد و پیگیری دارد.