Optimal three-dimensional biped walking pattern generation based on geodesics

摘要

The innovative three-dimensional humanoid biped gait planning method using geodesics is introduced in this article. In order to control three-dimensional walking, the three-dimensional linear inverted pendulum model is studied in our energy-optimal gait planning based on geodesics. The kinetic energy of the three-dimensional linear inverted pendulum model is calculated at first. Based on this kinetic energy model, the Riemannian metric is defined and the Riemannian surface is further determined by this Riemannian metric. The geodesic is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the center of gravity because the kinetic energy along the geodesic is invariant according to the geometric property of geodesics and the walking is energy-saving. Finally, a simulation experiment using a 12-degree-of-freedom biped robot model is implemented. The gait sequences of the simulated RoboErectus humanoid robot are obtained in the ROS (Robot Operating System) Gazebo environment. The proposed geodesics approach is compared with the traditional sinusoidal interpolation method by analyzing the torque feedback of each joint of both legs, and our geodesics optimization gait planning method for three-dimensional linear inverted pendulum model walking control is verified by the assessment results.