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المؤلفCapi, G.
المؤلفNasu, Y.
المؤلفBarolli, L.
المؤلفMitobe, K.
المؤلفYamano, M.
المؤلفTakeda, K.
تاريخ الإتاحة2009-11-25T13:04:51Z
تاريخ النشر2001
اسم المنشورEngineering Journal of Qatar University
الاقتباسEngineering Journal of Qatar University, 2001, Vol. 14, Pages 211-229.
معرّف المصادر الموحدhttp://hdl.handle.net/10576/7900
الملخصA 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.
اللغةen
الناشرQatar University
الموضوعEngineering: Research Papers
العنوانPerformance Evaluation Of Biped Robot Optimal Gait Based On Genetic Algorithm
النوعArticle
الصفحات211-229
رقم المجلد14
dc.accessType Open Access


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