{"title":"Lower energy Gait Pattern Generation in 5-Link Biped Robot Using Image Processing","authors":"Byounghyun Kim, Youngjoon Han, Hernsoo Hahn","volume":26,"journal":"International Journal of Electronics and Communication Engineering","pagesStart":170,"pagesEnd":178,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/7622","abstract":"The purpose of this study is to find natural gait of\r\nbiped robot such as human being by analyzing the COG (Center Of\r\nGravity) trajectory of human being's gait. It is discovered that human\r\nbeings gait naturally maintain the stability and use the minimum\r\nenergy. This paper intends to find the natural gait pattern of biped\r\nrobot using the minimum energy as well as maintaining the stability by\r\nanalyzing the human's gait pattern that is measured from gait image on\r\nthe sagittal plane and COG trajectory on the frontal plane. It is not\r\npossible to apply the torques of human's articulation to those of biped\r\nrobot's because they have different degrees of freedom. Nonetheless,\r\nhuman and 5-link biped robots are similar in kinematics. For this, we\r\ngenerate gait pattern of the 5-link biped robot by using the GA\r\nalgorithm of adaptation gait pattern which utilize the human's ZMP\r\n(Zero Moment Point) and torque of all articulation that are measured\r\nfrom human's gait pattern. The algorithm proposed creates biped\r\nrobot's fluent gait pattern as that of human being's and to minimize\r\nenergy consumption because the gait pattern of the 5-link biped robot\r\nmodel is modeled after consideration about the torque of human's each\r\narticulation on the sagittal plane and ZMP trajectory on the frontal\r\nplane. This paper demonstrate that the algorithm proposed is superior\r\nby evaluating 2 kinds of the 5-link biped robot applied to each gait\r\npatterns generated both in the general way using inverse kinematics\r\nand in the special way in which by considering visuality and\r\nefficiency.","references":"[1] L. Magdalena, \"Learning Gait Patterns for the Fuzzy Synthesis of Biped\r\nWalk,\" IEEE IFCIS, pp.248-250, 1994.\r\n[2] Q. Huang, \"Planning Walking Patterns for a Biped Robot,\" IEEE ICRA\r\nVol. 17, pp. 280-289, 2001.\r\n[3] L. Endo, \"Co-evolution of Morphology and Walking Pattern of Biped\r\nHumanoid Robot using Evolutionary Computation-Evolutionary\r\nDesigning Method and its Evaluation,\" IEEE IROS, Vol. 1, pp. 340-345,\r\n2003.\r\n[4] M. Vukobratobic and D. Juricic, \"Contribution to the Synthesis of Biped\r\nGait,\" IEEE Trans. Bio-Med. Eng, Vol. 1, pp. 1-6, 1996.\r\n[5] S. Kajita, F. Kanehiro, K. Kaneko, k. Yokoi and H. Hirukawa, \"The 3D\r\nLinear Inverted Pendulum Mode : A simple modeling for a biped walking\r\npattern generation,\" Proc. of the 2001 IEEE\/RSJ, Vol. 1, pp. 239-246,\r\n2001.\r\n[6] Q. Huang, K. Shuuji, N. Koyachi, K. Kaneko, K. Yokoi, H. Arai, K.\r\nKomoriya and K. Tanie, \"A High Stability, Smooth Walking pattern for a\r\nBiped Robot,\" IEEE ICRA, pp. 65-71, 1999.\r\n[7] Arbulu, \"ZMP Human Measure System,\" IEEE Climbing-Walking\r\nRobots, pp. 433-440, 2006.\r\n[8] M. Morisawa, S. kajita, K. Kaneko and K. Harada, \"Pattern Generation of\r\nBiped Walking Constrained on Parametric Surface,\" IEEE ICRA, pp.\r\n2405-2410, 2005.\r\n[9] Y. Hasegawa, \"Trajectory Generation for Biped Locomotion Robot,\"\r\nMechatronics, Vol. 10, pp. 67-89, 2000.\r\n[10] A. Borghese, L. Bianchi and F. Lacquaniti, \"Kinematic determinants of\r\nHuman Locomotion,\" Journal of Physiology, pp. 863-879, 1996.\r\n[11] Xiuping Mu and Qiong Wu, \"A Complete dynamics model of five-link\r\nbipedal walking,\" Proceeding of american control Conference, pp.\r\n4926-4931, 2003.\r\n[12] Xiuping Mu and Qiong Wu, \"Development of a complete dynamic model\r\nof a planar five-link biped and sliding mode control of its locomotion\r\nduring the double support phase,\" Int. Journal of control, Vol. 77, no. 8,\r\npp. 789-799, 2004.\r\n[13] S. Kajita and K. Tani, \"Study of Dynamic Biped Locomotion on Rugged\r\nTerrain,\" ICAR, Vol. 1, pp.741-746, 1991.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 26, 2009"}