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Finite Difference-Based Suboptimal Trajectory Planning of Biped Robot with Continuous Dynamic Response

Journal Contribution - Journal Article

One of the clear problems encountered in the
dynamic response of the biped robot is the discontinuity of the
actuating torques/ground reaction forces at the transition
instances during transferring form single support phase to
double support phase and vice versa. Therefore, this paper
suggests the linear transition function used in the biomechanics
field for estimating the ground reaction forces during the
double support phase such that gradual increase/decrease of the
ground reaction forces can occur. The closure loop of the biped
robot at the transition instances during DSP can be broken
using the mentioned strategy. Consequently, the continuous
dynamic response can be achieved. Two cases are simulated
using the optimal control theory. The inverse dynamics-based
optimization is preferred as a direct suboptimal tool because it
can show less computation and easinessthan other optimal
control approaches. Due to easiness of the finite difference
approach, it is used for discretization of the dynamic equations
and the imposed constraints to convert the dynamic optimal
control problem into parameter optimization. The simulated
case 1 have been used repeatedly in the literature, whereas the
case 2 adopts the linear transition function of the ground
reaction forces keeping the same generalized coordinates of the
biped configuration at the transition instances. The results
show the superiority of the suggested method to guarantee
continuous actuating torques/ground reaction forces at the
transition instances.
Journal: International Journal of Modeling and Optimization
ISSN: 2010-3697
Issue: 4
Volume: 3
Pages: 337-343
Publication year:2013
Keywords:Biped robot, finite difference, optimization, subo