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Optimal stair climbing pattern generation for humanoids using virtual slope and distributed mass model
, Article Journal of Intelligent and Robotic Systems: Theory and Applications ; Volume 94, Issue 1 , 2019 , Pages 43-59 ; 09210296 (ISSN) ; Yousefi Koma, A ; Khadiv, M ; Mansouri, S ; Mohtasebi, S. S ; Sharif University of Technology
Springer Netherlands
2019
Abstract
This study addresses optimal walking pattern generation for SURENA III humanoid robot in a stair-climbing scenario. To this end, the kinematic configuration of the 31-DOF humanoid robot is studied. Integrating the detailed dynamic properties of the robot, a comprehensive and precise dynamic model is developed for its lower-limb. In order to generate the optimal walking pattern for the considered humanoid robot, trajectories for feet and pelvis are first designed, and then joint angles are derived by means of inverse kinematics. Such a complete model provides the designer with the necessary tools to optimize the trajectory generation. Using two different types of objective functions, namely...