Performance Evaluation Of Biped Robot Optimal Gait Based On Genetic Algorithm

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Author Capi, G. en_US
Author Nasu, Y. en_US
Author Barolli, L. en_US
Author Mitobe, K. en_US
Author Yamano, M. en_US
Author Takeda, K. en_US
Available date 2009-11-25T13:04:51Z en_US
Publication Date 2001 en_US
Citation Engineering Journal of Qatar University, 2001, Vol. 14, Pages 211-229. en_US
URI http://hdl.handle.net/10576/7900 en_US
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 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
Pagination 211-229 en_US
Volume Number 14 en_US


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