Performance Evaluation Of Biped Robot Optimal Gait Based On Genetic Algorithm

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Performance Evaluation Of Biped Robot Optimal Gait Based On Genetic Algorithm

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dc.contributor.author Capi, G. en_US
dc.date.accessioned 2009-11-25T13:04:51Z
dc.date.available 2009-11-25T13:04:51Z
dc.date.issued 2001 en_US
dc.identifier.citation Engineering Journal of Qatar University, 2001, Vol. 14, Pages 211-229. en_US
dc.identifier.uri http://hdl.handle.net/10576/7900
dc.description.abstract A Genetic Algorithm (GA) gait synthesis method for walking biped robots is considered in this paper. The walking occupy most of the time during the task performance, therefore its gait is analyzed based on the minimum consumed energy (CE) and minimum torque change (TC). The biped robot optimal gait is considered starting from static standing state and continuing with normal walking. The proposed method can be applied for wide ranges of step lengths and step times and for other tasks that might to be performed by humanoid robot. By using GA as an optimization tool it is easy to include constraints and add new variables to be optimized. The biped robot gait is generated without neglecting the stability, which is verified by the zero moment point ZMP concept. Simulations are realized based on the parameters of "Bonten-Maru I" humanoid robot. The evaluation by simulations shows that the proposed method has a good performance and energy is significantly reduced. en_US
dc.language.iso en en_US
dc.publisher Qatar University en_US
dc.subject Engineering: Research Papers en_US
dc.title Performance Evaluation Of Biped Robot Optimal Gait Based On Genetic Algorithm en_US
dc.type Article en_US
dc.identifier.pagination 211-229 en_US
dc.identifier.volume 14 en_US

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