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Trajectory generation schemes for bipedal ascending and descending stairs using univariate dynamic encoding algorithm for searches (uDEAS)

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  • Robotics and Automation
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Abstract

In this paper, we propose new motion schemes for a biped robot to walk up and down a staircase using dynamic encoding algorithm for searches (DEAS) for optimization. Ascending and descending a staircase are scheduled by four phases for convenience of motion generation. Each phase mimics the natural gait of a human being and is easy to analyze and implement. Optimal trajectories of 10 joint motors in a lower extremity of a humanoid are computed to simultaneously satisfy stability conditions, walking constraints, and energy efficiency requirements, and the zero moment point condition. The performance of uDEAS is compared to genetic algorithm in finding 13 parameters with the result that uDEAS requires only 17 seconds, which is 12 times faster. The feasibility of the proposed motion schemes is validated with computer simulations and experiments successfully carried out for a small humanoid robot.

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Authors and Affiliations

  1. Department of Electronics Engineering, Dong-A University, Busan, 604-714, Korea

    Eun-Su Kim, Man-Seok Kim & Jong-Wook Kim

  2. Department of Electronic Engineering, Pusan National University, 30 Jangjeon-dong, Geumjeong-gu, Busan, 609-735, Korea

    Joon-Young Choi

  3. Electrical and Computer Engineering Division, Pohang University of Science and Technology, Pohang, Gyoengbuk, 790-784, Korea

    Sang Woo Kim

Authors
  1. Eun-Su Kim
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  2. Man-Seok Kim
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  3. Joon-Young Choi
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  4. Sang Woo Kim
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  5. Jong-Wook Kim
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Correspondence to Jong-Wook Kim.

Additional information

Recommended by Editorial Board member Youngjin Choi under the direction of Editor Jae-Bok Song. This study was supported by research funds from Dong-A University.

Eun-Su Kim received his M.S. degree from the Department of Electronics Engineering from Dong-A University, Busan, Korea, in 2010. He is currently working at S&T Daewoo Co. Ltd. His research interests include biped walking of humanoids, optimization methods, and embedded systems.

Man-Seok Kim received his B.S. degree from the Department of Electronics Engineering from Dong-A University, Busan, Korea, in 2009. He is currently a Master student of the Department of Electronic Engineering. His research interests include intelligent control, robot control, circuit design, and embedded systems.

Joon-Young Choi received his B.S., M.S., and Ph.D. degrees in Electronic and Electrical Engineering from Pohang University of Science and Technology (POSTECH), Pohang, Korea in 1994, 1996, and 2002, respectively. From 2002 to 2004, he worked as a Senior Engineer at the Electronics and Telecommunication Research Institute (ETRI), Daejeon, Korea. Since 2005, he has been an Associate Professor in the school of Electrical Engineering at Pusan National University, Busan, Korea. His research interests include nonlinear control, internet congestion control, embedded systems, and automation.

Sang Woo Kim received his B.S., M.S., and Ph.D. degrees from the Department of Control and Instrumentation Engineering, Seoul National University, in 1983, 1985, and 1990, respectively. Currently, he is a Professor in the Department of Electronics and Electrical Engineering at POSTECH, Pohang, Korea. He joined POSTECH in 1992 as an Assistant Professor and was a Visiting Fellow in the Department of Systems Engineering, Australian National University, Canberra, Australia, in 1993. His current research interests include optimal control, optimization algorithms, intelligent control, wireless communication, and process automation.

Jong-Wook Kim received his B.S., M.S., and Ph.D. degrees from the Department of Electronics and Electrical Engineering at Pohang University of Science and Technology (POSTECH), Pohang, Korea, in 1998, 2000, and 2004, respectively. Currently, he is an Assistant Professor in the Department of Electronic Engineering at Dong-A University, Busan, Korea. His current research interests include numerical optimization methods, robot control, intelligent control, diagnosis of electrical systems, and system identification.

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Kim, ES., Kim, MS., Choi, JY. et al. Trajectory generation schemes for bipedal ascending and descending stairs using univariate dynamic encoding algorithm for searches (uDEAS). Int. J. Control Autom. Syst. 8, 1061–1071 (2010). https://doi.org/10.1007/s12555-010-0515-y

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  • DOI: https://doi.org/10.1007/s12555-010-0515-y

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