Development of a CORBA-based Humanoid Robot and its Applications

Nasu, Yasuo; Capi, Genci; Yussof, Hanafiah; Yamano, Mitsuhiro; Ohka, Masahiro

doi:10.5772/4800

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1"bonten-maru" Humanoid Robot1

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2010

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“…In the simulations and experiments, we use the "Bonten-Maru" humanoid robot (Nasu et al, 2002;Takeda et al, 2001). The parameter values are presented in Table 1 and the robot is shown in Figure 3.…”

Section: 1"bonten-maru" Humanoid Robotmentioning

confidence: 99%

Application of Evolutionary Algorithms for Humanoid Robot Motion Planning

Capi

Mitobe

2010

Journal of Information Technology Research

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In this article, the authors present a new method for humanoid robot motion planning, satisfying multiple objectives. In this method, the multiple objectives humanoid robot motion is formulated as a multiobjective optimization problem, considering each objective as a separate fitness function. Three different objectives are considered: (1) minimum energy consumption; (2) stability; and (3) walking speed. The advantage of the proposed method is that, in a single run of multiobjective evolution, generated humanoid robot motions satisfy each objective separately or multiple objectives simultaneously. Therefore, the humanoid robot can switch between different gaits based on environmental conditions. The results show that humanoid robot gaits generated by multiobjective evolution are similar to that of humans. To further verify the performance of optimal motions, they are transferred to the “Bonten-Maru” humanoid robot.

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Section: 1"bonten-maru" Humanoid Robotmentioning

confidence: 99%