Title: Optimised torque trajectory for humanoid robot based on human gait data

Authors: J.K. Rai, R.P. Tewari, Shraddha Pandey, Dinesh Chandra

Addresses: Electronics and Communication Engineering Department, Galgotias College of Engineering and Technology, 1, Institutional Area, Greater Noida-201306, Uttar Pradesh, India. ' Applied Mechanics Department, Motilal Nehru National Institute of Technology, Allahabad-211004, Uttar Pradesh, India. ' JRF, AURA Dte, Aeronautical Development Agency, Ministry of Defence, Government of India, Vimanapura Post, Bangalore-560017, Karnataka, India. ' Electrical Engineering Department, Motilal Nehru National Institute of Technology, Allahabad-211004, Uttar Pradesh, India

Abstract: This paper presents an optimised torque trajectory for biped robot based on human walking gait data. A mathematical dynamic model of leg of a biped robot having active hip, knee and ankle joint is considered here for walking performance. The torque trajectory obtained from mathematical calculation of dynamics of human leg is optimised on the basis of a cost function to minimise the energy dissipation. Torque trajectory of human leg is obtained using simulation software BRG LifeMOD. The three torque trajectories namely simulated, calculated and optimised are compared, and the optimised trajectory obtained in this paper can be directly used as input to the control theoretic applications of walking humanoid robot. Therefore, the proposed method can be used to generate an optimised torque trajectory.

Keywords: biped robots; robot gait; optimisation; torque trajectory; humanoid robots; walking robots; robot locomotion; human gait data; simulation.

DOI: 10.1504/IJMMS.2011.039266

International Journal of Mechatronics and Manufacturing Systems, 2011 Vol.4 No.2, pp.171 - 184

Published online: 07 Mar 2015 *

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