Gait design and optimization of a new limb robot

Jizhuang Fan; Jihong Yan; Jie Zhao

doi:10.1109/ICInfA.2012.6246821

Gait design and optimization of a new limb robot

Jizhuang Fan^*
, Jihong Yan
, Jie Zhao

^*Corresponding author for this work

School of Mechatronics Engineering

School of Electrical Engineering and Automation, Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A new type of integration robot of arm and leg has been developed. Its cross gait of walking quickly on the barrier-free road was designed and planned. Gait optimization algorithm based on the energetic optimum was put forward, which can optimize the robot cross gait, and get the corresponding optimization parameters of walking gait. The simulation results show that the robot has the very good exercise continuity and stability on the basis of low energy consumption when it adopts the optimized cross gait.

Original language	English
Title of host publication	2012 IEEE International Conference on Information and Automation, ICIA 2012
Pages	295-298
Number of pages	4
DOIs	https://doi.org/10.1109/ICInfA.2012.6246821
State	Published - 2012
Event	2012 IEEE International Conference on Information and Automation, ICIA 2012 - Shenyang, China Duration: 6 Jun 2012 → 8 Jun 2012

Publication series

Name	2012 IEEE International Conference on Information and Automation, ICIA 2012

Conference

Conference	2012 IEEE International Conference on Information and Automation, ICIA 2012
Country/Territory	China
City	Shenyang
Period	6/06/12 → 8/06/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Gait optimization
Gait planning
Limb robot
Simulation

Access to Document

10.1109/ICInfA.2012.6246821

Cite this

@inproceedings{309b8f72b23045019bfaafbdd3b3f738,

title = "Gait design and optimization of a new limb robot",

abstract = "A new type of integration robot of arm and leg has been developed. Its cross gait of walking quickly on the barrier-free road was designed and planned. Gait optimization algorithm based on the energetic optimum was put forward, which can optimize the robot cross gait, and get the corresponding optimization parameters of walking gait. The simulation results show that the robot has the very good exercise continuity and stability on the basis of low energy consumption when it adopts the optimized cross gait.",

keywords = "Gait optimization, Gait planning, Limb robot, Simulation",

author = "Jizhuang Fan and Jihong Yan and Jie Zhao",

year = "2012",

doi = "10.1109/ICInfA.2012.6246821",

language = "英语",

isbn = "9781467322386",

series = "2012 IEEE International Conference on Information and Automation, ICIA 2012",

pages = "295--298",

booktitle = "2012 IEEE International Conference on Information and Automation, ICIA 2012",

note = "2012 IEEE International Conference on Information and Automation, ICIA 2012 ; Conference date: 06-06-2012 Through 08-06-2012",

}

Fan, J , Yan, J & Zhao, J 2012, Gait design and optimization of a new limb robot. in 2012 IEEE International Conference on Information and Automation, ICIA 2012., 6246821, 2012 IEEE International Conference on Information and Automation, ICIA 2012, pp. 295-298, 2012 IEEE International Conference on Information and Automation, ICIA 2012, Shenyang, China, 6/06/12. https://doi.org/10.1109/ICInfA.2012.6246821

Gait design and optimization of a new limb robot. / Fan, Jizhuang ; Yan, Jihong ; Zhao, Jie.
2012 IEEE International Conference on Information and Automation, ICIA 2012. 2012. p. 295-298 6246821 (2012 IEEE International Conference on Information and Automation, ICIA 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Gait design and optimization of a new limb robot

AU - Fan, Jizhuang

AU - Yan, Jihong

AU - Zhao, Jie

PY - 2012

Y1 - 2012

N2 - A new type of integration robot of arm and leg has been developed. Its cross gait of walking quickly on the barrier-free road was designed and planned. Gait optimization algorithm based on the energetic optimum was put forward, which can optimize the robot cross gait, and get the corresponding optimization parameters of walking gait. The simulation results show that the robot has the very good exercise continuity and stability on the basis of low energy consumption when it adopts the optimized cross gait.

AB - A new type of integration robot of arm and leg has been developed. Its cross gait of walking quickly on the barrier-free road was designed and planned. Gait optimization algorithm based on the energetic optimum was put forward, which can optimize the robot cross gait, and get the corresponding optimization parameters of walking gait. The simulation results show that the robot has the very good exercise continuity and stability on the basis of low energy consumption when it adopts the optimized cross gait.

KW - Gait optimization

KW - Gait planning

KW - Limb robot

KW - Simulation

UR - https://www.scopus.com/pages/publications/84866616973

U2 - 10.1109/ICInfA.2012.6246821

DO - 10.1109/ICInfA.2012.6246821

M3 - 会议稿件

AN - SCOPUS:84866616973

SN - 9781467322386

T3 - 2012 IEEE International Conference on Information and Automation, ICIA 2012

SP - 295

EP - 298

BT - 2012 IEEE International Conference on Information and Automation, ICIA 2012

T2 - 2012 IEEE International Conference on Information and Automation, ICIA 2012

Y2 - 6 June 2012 through 8 June 2012

ER -

Gait design and optimization of a new limb robot

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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