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Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation

Biped locomotion provides more mobility and effectiveness compared with other methods. Animals have evolved efficient walking patterns that are pursued by biped robot researchers. Current researchers have observed that symmetry is a critical criterion to achieve efficient natural walking and usually...

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Autores principales: Chen, Boyang, Zang, Xizhe, Zhang, Yue, Gao, Liang, Zhu, Yanhe, Zhao, Jie
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9967241/
https://www.ncbi.nlm.nih.gov/pubmed/36838117
http://dx.doi.org/10.3390/mi14020417
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author Chen, Boyang
Zang, Xizhe
Zhang, Yue
Gao, Liang
Zhu, Yanhe
Zhao, Jie
author_facet Chen, Boyang
Zang, Xizhe
Zhang, Yue
Gao, Liang
Zhu, Yanhe
Zhao, Jie
author_sort Chen, Boyang
collection PubMed
description Biped locomotion provides more mobility and effectiveness compared with other methods. Animals have evolved efficient walking patterns that are pursued by biped robot researchers. Current researchers have observed that symmetry is a critical criterion to achieve efficient natural walking and usually realize symmetrical gait patterns through morphological characteristics using simplified dynamic models or artificial priors of the center of mass (CoM). However, few considerations of symmetry and energy consumption are introduced at the joint level, resulting in inefficient leg motion. In this paper, we propose a full-order biped gait planner in which the symmetry requirement, energy efficiency, and trajectory smoothness can all be involved at the joint level, and CoM motion is automatically determined without any morphological prior. In order to achieve a symmetrical and efficient walking pattern, we first investigated the characteristic of a completely symmetrical gait, and a group of nearly linear slacked constraints was designed for three phases of planning. Then a Constrained Direct Collocation (DIRCON)-based full-order biped gait planner with a weighted cost function for energy consumption and trajectory smoothness is proposed. A dynamic simulation with our newly designed robot model was performed in CoppliaSim to test the planner. Physical comparison experiments on a real robot device finally validated the symmetry characteristic and energy efficiency of the generated gait. In addition, a detailed presentation of the real biped robot is also provided.
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spelling pubmed-99672412023-02-26 Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation Chen, Boyang Zang, Xizhe Zhang, Yue Gao, Liang Zhu, Yanhe Zhao, Jie Micromachines (Basel) Article Biped locomotion provides more mobility and effectiveness compared with other methods. Animals have evolved efficient walking patterns that are pursued by biped robot researchers. Current researchers have observed that symmetry is a critical criterion to achieve efficient natural walking and usually realize symmetrical gait patterns through morphological characteristics using simplified dynamic models or artificial priors of the center of mass (CoM). However, few considerations of symmetry and energy consumption are introduced at the joint level, resulting in inefficient leg motion. In this paper, we propose a full-order biped gait planner in which the symmetry requirement, energy efficiency, and trajectory smoothness can all be involved at the joint level, and CoM motion is automatically determined without any morphological prior. In order to achieve a symmetrical and efficient walking pattern, we first investigated the characteristic of a completely symmetrical gait, and a group of nearly linear slacked constraints was designed for three phases of planning. Then a Constrained Direct Collocation (DIRCON)-based full-order biped gait planner with a weighted cost function for energy consumption and trajectory smoothness is proposed. A dynamic simulation with our newly designed robot model was performed in CoppliaSim to test the planner. Physical comparison experiments on a real robot device finally validated the symmetry characteristic and energy efficiency of the generated gait. In addition, a detailed presentation of the real biped robot is also provided. MDPI 2023-02-10 /pmc/articles/PMC9967241/ /pubmed/36838117 http://dx.doi.org/10.3390/mi14020417 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Chen, Boyang
Zang, Xizhe
Zhang, Yue
Gao, Liang
Zhu, Yanhe
Zhao, Jie
Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation
title Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation
title_full Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation
title_fullStr Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation
title_full_unstemmed Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation
title_short Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation
title_sort symmetrical efficient gait planning based on constrained direct collocation
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9967241/
https://www.ncbi.nlm.nih.gov/pubmed/36838117
http://dx.doi.org/10.3390/mi14020417
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AT zhuyanhe symmetricalefficientgaitplanningbasedonconstraineddirectcollocation
AT zhaojie symmetricalefficientgaitplanningbasedonconstraineddirectcollocation