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Optimization based gait pattern generation for a biped robot

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4 Author(s)
Buschmann, T. ; Inst. of Appl. Mechanics, Technische Univ. Munchen, Munich ; Lohmeier, S. ; Ulbrich, H. ; Pfeiffer, F.

This paper addresses the problem of gait pattern generation for biped robots. A method based on nonlinear parameter optimization is proposed. Key features of the method are the trajectory description, optimization of only a subset of coordinates and the use of analytical, recursively calculated gradients for cost functions and constraints. The method has been used successfully to calculate walking trajectories for the 3D 17-DOF robot "Johnnie"

Published in:

Humanoid Robots, 2005 5th IEEE-RAS International Conference on

Date of Conference:

5-5 Dec. 2005