Hongbo Zhu, Minzhou Luo and Jingzhao Li
The purpose of this study is to present an optimization-based gait planning method for biped robots according to the conditions of terrain, which takes fully the relationship…
Abstract
Purpose
The purpose of this study is to present an optimization-based gait planning method for biped robots according to the conditions of terrain, which takes fully the relationship between walking stability margin and energy efficiency into account.
Design/methodology/approach
First, the authors newly designed a practical gait motion synthesis algorithm by using the optimal allowable zero moment point (ZMP) variation region (OAZR), which can generate different gait motions corresponding to different terrains based on the modifiability of ZMP in lateral (y-axis) direction. Second, an effective gait parameter optimization algorithm is performed to find the optimal set of key gait parameters (step length, duration time of gait cycle, average height of center of mass (CoM), amplitude of the vertical CoM motion and double support ratio), which maximizes either the walking stability margin or the energy efficiency with certain walking stability margin under practical constraints (mechanical constraints of all joint motors, geometric constraints, friction force limit and yawing moment limit) according to the conditions of terrain. Third, the necessary controllers for biped robots have been introduced briefly.
Findings
The experiment data and results are described and analyzed, showing that the proposed method was verified through simulations and implemented on a DRC-XT biped robot.
Originality/value
The main contribution is that the OAZR has been defined based on AZR, which could be used to plan and generate the various feasible gait motions to help a biped robot to adapt effectively to various terrains.
Details
Keywords
Baaba Boadziwa Sackey, Jingzhao Yang, Prince Ewudzie Quansah, Christian Afanyi Ekumah, Francisca Arboh and Bright Boadu
The study examined the influence of internal marketing orientation on employees’ innovative behaviour through the mediating role of workforce agility and the moderating role of…
Abstract
Purpose
The study examined the influence of internal marketing orientation on employees’ innovative behaviour through the mediating role of workforce agility and the moderating role of psychological empowerment.
Design/methodology/approach
We collected 731 valid responses from frontline employees in the hospitality industry in Ghana. The data were analysed using hierarchical regression analysis in SPSS.
Findings
The findings show that internal marketing orientation significantly influenced workforce agility and innovative behaviour. Also, workforce agility significantly influenced employee innovative behaviour. Again, the study found that workforce agility partially mediated the relationship between internal marketing orientation and employee innovative behaviour. Psychological empowerment significantly moderated the relationship between workforce agility and employees innovative behaviour.
Practical implications
In order to promote agile behaviour and enhance innovative thinking when assigning tasks for company products and services, organisations should develop and implement suitable internal marketing orientation programmes and policies regarding opportunities for career growth, promotion and advancement.
Originality/value
This study offers timely empirical insights into how organisations can promote employee innovation, particularly in the hospitality sector, where human capital is imperative for service excellence and competitiveness.