부산대학교 도서관

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.