병렬형 2 족 보행 로봇의 통합 최적화

In this paper, an integrated optimization of a parallel biped robot, whose one leg is constructed of two parallel platforms, is performed. The purpose of this optimization is to minimize energy consumption when the robot has stable walk. Research results show that the consumed energy can be saved by the structure of robot legs as well as the gait trajectories of a robot. Furthermore, the energy, which the robot consumes through the integrated optimization, is lower than that of only trajectories optimization. Genetic Algorithm is employed in order to search the best chromosomes which simultaneously generate stable gait trajectories of biped robot and design parameters of robot legs. As tools of a simulation, Matlab Simulink and RecurDyn, commercial software, are used to control the robot and construct dynamic modeling of the robot, respectively.