이족보행로봇의 걸음새변화에 관한 최적화 연구

초록

This study deals with the gait optimization of via points on biped robot. ZMP(Zero Moment Point) is most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, legs's trajectory and a desired ZMP trajectory is required, balancing weight's movement is solved by FDM(Finite Difference Method). In this study, optimal index is defined to dynamically stable walking of a biped robot, and optimization of via points is applied by GA(Genetic Algorithm).