A Parametric Optimization Approach to Walking Pattern Synthesis

Bessonnet, Guy; Seguin, Pascal; Sardain, Philippe

doi:10.1177/0278364905055377

Cited by 94 publications

(85 citation statements)

References 24 publications

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“…Thus it is extremely important and interesting to study the walking gait of an anthropomorphic biped with rotation of the feet. For a seven-link biped, an optimized walking gait composed of single support phases and double support phases is proposed in (11), (3). In single support phase the biped is flat on the ground, the rotation of the feet appears in double support phase only.…”

Section: Introductionmentioning

confidence: 99%

Comparison of different gaits with rotation of the feet for a planar biped

Tlalolini

Chevallereau

Aoustin

2009

Robotics and Autonomous Systems

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Fast human walking includes a phase where the stance heel rises from the ground and the stance foot rotates about the stance toe. This phase where the biped becomes under-actuated is not present during the walk of humanoid robots. The objective of this study is to determine if this phase is useful to reduce the energy consumed in the walking. In order to study the efficiency of this phase, six cyclic gaits are presented for a planar biped robot. The simplest cyclic motion is composed of successive single support phases with flat stance foot on the ground. The most complex cyclic motion is composed of single support phases that include a subphase of rotation of the stance foot about the toe and of finite time double support phase. For the synthesis of these walking gaits, optimal motions with respect to the torque cost, are defined by taking into account given performances of actuators. It is shown that for fast motions a foot rotation sub-phase is useful to reduce the criteria cost. In the optimization process, under-actuated phase (foot rotation phase), fullyactuated phase (flat foot phase) and over-actuated phase (double support phase) are considered.

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Section: Introductionmentioning

confidence: 99%

Comparison of different gaits with rotation of the feet for a planar biped

Tlalolini

Chevallereau

Aoustin

2009

Robotics and Autonomous Systems

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“…In this walking pattern, the DSP consists of rotation of the front foot about the heel until it will be flat on the ground, while the rare foot rotates about its tip until it will toe off. The following dynamic analysis is used by the literature [10]- [13].…”

Section: Problem Statementmentioning

confidence: 99%

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

Al-Shuka¹,

Corves²,

Vanderborght³

et al. 2013

IJMO

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Abstract-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.

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“…Multibody system dynamics (MSD) techniques are potentially very powerful in this field and there are many contributions from the MSD community to this challenging problem [1,2,3,4]. Among other approaches, parameter optimization techniques have been frequently used for motion synthesis of biped robots [5]. These optimization techniques have been proven to be also a powerful tool in human walking dynamics research [6,7].…”

Section: Introductionmentioning

confidence: 99%

Dynamical analysis and design of active orthoses for spinal cord injured subjects by aesthetic and energetic optimization

2015

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The dynamic analysis and simulation of human gait using multibody dynamics techniques has been a major area of research in the last decades. Nevertheless, not much attention has been paid to the analysis and simulation of robotic-assisted gait. Simulation is a very powerful tool both for assisting the design stage of active rehabilitation robots, and predicting the subject-orthoses cooperation and the resulting aesthetic gait. This paper presents a parameter optimization approach that allows simulating gait motion patterns in the particular case of a subject with incomplete spinal cord injury (SCI) wearing active knee-ankle-foot orthoses at both legs. The subject is modelled as a planar multibody system actuated through the main lower limb muscle groups. A muscle force-sharing problem is solved to obtain optimal muscle activation patterns. Furthermore, denervation of muscle groups caused by the SCI is parameterized to account for different injury severities. The active orthoses are modelled as external devices attached to the legs, and their dynamic and performance parameters are taken from a real prototype. Numerical results using energetic and aesthetic objective functions, and considering different SCI severities are obtained. Detailed discussions are given related to the different motion and actuation patterns both from muscles and orthoses. The proposed methodology opens new perspectives towards the prediction of human-assisted gait, which can be very helpful for the design of new rehabilitation robots.

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A Parametric Optimization Approach to Walking Pattern Synthesis

Cited by 94 publications

References 24 publications

Comparison of different gaits with rotation of the feet for a planar biped

Comparison of different gaits with rotation of the feet for a planar biped

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

Dynamical analysis and design of active orthoses for spinal cord injured subjects by aesthetic and energetic optimization

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