GA Based Trajectory Generation for a 7-DOF Biped Robot by Considering Feet Rotation during Double Support Phase

Farsam Farzadpour; Mohammad Danesh

doi:10.4028/www.scientific.net/AMR.463-464.1252

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 463-464GA Based Trajectory Generation for a 7-DOF Biped...

GA Based Trajectory Generation for a 7-DOF Biped Robot by Considering Feet Rotation during Double Support Phase

Abstract:

This paper presents a trajectory generation approach for a 7-DOF biped robot on level ground. Simultaneously rotation of feet in double support phase is considered which leads to high-speed and more similar to human being walking. The zero moment point (ZMP) stability criterion is used to ensure the stability of the bipedal walking robot. Since ZMP trajectory in human walking does not stay fixed, it needs to be a straight line shaped forward ZMP trajectory to have a natural walk. A genetic algorithm based method is proposed to obtain key parameters in trajectory generation such that the ZMP follows a predefined trajectory while minimizing power consumption. Simulation results demonstrate the effectiveness of the proposed method.

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Periodical:

Advanced Materials Research (Volumes 463-464)

Pages:

1252-1255

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.463-464.1252

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Online since:

February 2012

Authors:

Farsam Farzadpour, Mohammad Danesh

Keywords:

Biped Robot, Genetic Algorithm (GA), Power Consumption, Trajectory Generation, ZMP

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References

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