Application of Genetic Algorithms for biped robot gait synthesis optimization during walking and going up-stairs

Capi, Genci; Nasu, Yasuo; Barolli, Leonard; Mitobe, Kazuhisa; Takeda, Kenro

doi:10.1163/156855301317035197

Cited by 48 publications

(20 citation statements)

References 5 publications

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“…4. The humanoid robot gait generated based on the results of Box 1 and Box 5 are very similar with the results presented in [5] for MCE and MTC, respectively. The robot posture is straighter, like the human walking, when only MCE is considered (Fig.…”

Section: Resultssupporting

confidence: 68%

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A New Humanoid Robot Gait Generation Based on Multiobjective Optimization

Capi¹,

Yokota²,

Mitobe³

Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

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Up to now, the optimization algorithms are applied for humanoid robot gait generation, where a single fitness function drives the optimization process. But often, the humanoid robot gait generation problem is subject to several objectives. In order to deal with this problem, in this paper, we propose a new method based on multiobjective evolutionary algorithm. In order to verify the effectiveness of our proposed method, we considered two important conflicting objectives: minimum energy and minimum torque change, simultaneously. The angle trajectories are generated without neglecting the stability of humanoid robot. Results using the Bonten-Maru humanoid robot show a good performance of the proposed method.

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Section: Resultssupporting

confidence: 68%

“…In our previous work, we considered the humanoid robot gait generation during walking and going up-stairs ( [5]) and a real time gait generation ( [6]). In addition of minimum consumed energy (MCE) criteria, minimum torque change (MTC) ( [7]) was also considered.…”

Section: Introductionmentioning

confidence: 99%

A New Humanoid Robot Gait Generation Based on Multiobjective Optimization

Capi¹,

Yokota²,

Mitobe³

Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

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show abstract

“…In order to create a stable gait, the function parameters are varied in an numeric optimization algorithm whose cost function usually includes: stability, speed, and/or joint torques. There is no consensus on what the "best" or most "optimum" cost function is that is needed to create a gait [9][10][11][12]. However, there is a general consensus that the Zero Moment Point (ZMP) criterion is the best for determining the robot's stability.…”

Section: Gait Generation Methodsmentioning

confidence: 99%

Constrained Analytical Trajectory Filter for stabilizing humanoid robot motions

Muecke

Hong

2011

Intel Serv Robotics

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“…[10][11][12] However, the second approach exploits the actual mass properties of each link, i.e. 15 Park et al optimized the energy consumption of a seven-link biped robot in the sagittal plane and analyzed the best location for COM of the links. So, the second approach uses a complete model with precise values of the parameters, and the exact location of ZMP will be computed which makes this method suitable for generating optimal walking patterns.…”

Section: Introductionmentioning

confidence: 99%

Optimal gait planning for humanoids with 3D structure walking on slippery surfaces

et al. 2015

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In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question "which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?". To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using the inverse kinematics. Finally, by employing a genetic algorithm (GA), an optimization process is conducted to generate walking patterns with the minimum Required Coefficient Of Friction (RCOF). Six parameters are adopted to parameterize the pelvis trajectory and are exploited as the design variables in this optimization procedure. Also, a parametrical study is accomplished to address the effects of some other variables on RCOF. For comparison purposes, a tip-over Stability Margin (SM) is defined, and an optimization procedure is conducted to maximize this margin. Finally, the proposed gait planning procedure is implemented on SURENA III, a humanoid robot designed and fabricated in CAST, to validate the developed simulation procedure. The obtained results reveal merits of the proposed optimal gait planning procedure in terms of RCOF.

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Application of Genetic Algorithms for biped robot gait synthesis optimization during walking and going up-stairs

Cited by 48 publications

References 5 publications

A New Humanoid Robot Gait Generation Based on Multiobjective Optimization

A New Humanoid Robot Gait Generation Based on Multiobjective Optimization

Constrained Analytical Trajectory Filter for stabilizing humanoid robot motions

Optimal gait planning for humanoids with 3D structure walking on slippery surfaces

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