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Gait design and optimization of a new limb robot

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3 Author(s)
Jizhuang Fan ; School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, Heilongjiang Province, China ; Jihong Yan ; Jie Zhao

A new type of integration robot of arm and leg has been developed. Its cross gait of walking quickly on the barrier-free road was designed and planned. Gait optimization algorithm based on the energetic optimum was put forward, which can optimize the robot cross gait, and get the corresponding optimization parameters of walking gait. The simulation results show that the robot has the very good exercise continuity and stability on the basis of low energy consumption when it adopts the optimized cross gait.

Published in:

Information and Automation (ICIA), 2012 International Conference on

Date of Conference:

6-8 June 2012