Performance Evaluation Of Biped Robot Optimal Gait Based On Genetic Algorithm

Show simple item record Capi, G. en_US Nasu, Y. en_US Barolli, L. en_US Mitobe, K. en_US Yamano, M. en_US Takeda, K. en_US
date.accessioned 2009-11-25T13:04:51Z en_US
date.available 2009-11-25T13:04:51Z en_US
date.issued 2001 en_US
identifier.citation Engineering Journal of Qatar University, 2001, Vol. 14, Pages 211-229. en_US
identifier.uri en_US
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
language.iso en en_US
publisher Qatar University en_US
subject Engineering: Research Papers en_US
title Performance Evaluation Of Biped Robot Optimal Gait Based On Genetic Algorithm en_US
type Article en_US
identifier.pagination 211-229 en_US
identifier.volume 14 en_US

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