Research of Robot Gait Based on Evolution Algorithms

Song Hao Piao; Xian Feng Wang; Wen Zhao; Qiu Bo Zhong

doi:10.4028/www.scientific.net/AMM.48-49.928

Paper Titles

Research of Adaptive PID Controller Based on Genetic Algorithm
p.911

Research of an Automatic Forest Fire Detection System Based on Cooperative Perception
p.916

Research of Learning and Training about Inversible System of Neural Network
p.920

Research of On-Line Detection Apparatus for Industrial Steel Wire Rope
p.924

Research of Robot Gait Based on Evolution Algorithms
p.928

Research of Space Electronic Circuit Optimization Design
p.932

Research of the Demodulation for TWACS Based on the Industrial Power
p.937

Research on Aeroengine Rub-Impact Fault Analysis Based on Wavelet Scalogram Statistical Feature
p.942

Research on Dynamic Simulation of Former Fuselage Assembly
p.946

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 48-49Research of Robot Gait Based on Evolution...

Research of Robot Gait Based on Evolution Algorithms

Abstract:

In this paper, a new gait research for humanoid robot is presented. By computing the trajectory of center of mass (CoM) for humanoid robot, trajectory of hip joint and ankle joint are developed based on 3D inverted pendulum model. The actual location of the waist position obtained by multi-link model through the center of mass for humanoid robot is in coordinate of the waist of humanoid robot. Trajectory of hip joint and ankle joint are calculated. This paper presents a gait generation method with curve fitting. Using genetic algorithm, humanoid robot can autonomously search for a good gait trajectory. The experimental results show that gait trajectory for humanoid robot can be generated by applying to genetic algorithm. Our proposed method is verified satisfactorily.

You might also be interested in these eBooks

Measuring Technology and Mechatronics Automation

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 48-49)

Pages:

928-931

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.48-49.928

Citation:

Cite this paper

Online since:

February 2011

Authors:

Song Hao Piao, Xian Feng Wang, Wen Zhao, Qiu Bo Zhong

Keywords:

Curve Fitting, Gait Trajectory, Genetic Algorithm (GA), Humanoid Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Christian Ridderstro m. Legged locomotion: balance, control and tools from equation to action [D]. Ph. D, Royal Institute of Technology, Sweden. (2003).

Google Scholar

[2] Genci Capi, Masao Yokota. A New Humanoid Robot Gait Generation based on Multiobjective Optimization. Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Monterey, California, USA, 2005, 450-454.

DOI: 10.1109/aim.2005.1501032

Google Scholar

[3] M. Y. Zarrugh and C.W. Radcliffe, Computer generation of human gait kinematics, J. Biomech., vol. 12, p.99–111, (1979).

DOI: 10.1016/0021-9290(79)90149-0

Google Scholar

[4] M. Rostami and G. Bessonnet, Impactless sagittal gait of a biped robotduring the single support phase, in Proc. IEEE Int. Conf. Robotics and Automation, 1998, p.1385–1391.

DOI: 10.1109/robot.1998.677298

Google Scholar

[5] Qiang Huang, Kazuhito Yokoi. Planning Walking Patterns for a Biped Robot]IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 17, NO. 3, JUNE (2001).

DOI: 10.1109/70.938385

Google Scholar

[6] Kajita Shuuji. Humanoid robots [M]. GuanYisheng, trans. Beijing: Tsinghua University Press, (2007).

Google Scholar

[7] Tom M. Mitchell carnegie-mellon university. Machine Learning [Z]. McGraw-Hill Companies, Inc. (1997).

Google Scholar