Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

This paper presents a posture optimization algorithm for a six-legged walking robot. During walking on rough terrain and planning its motion the robot has to determine the horizontal position, distance to the ground, and inclination of the platform. The proposed posture optimization algorithm is based on the Particle Swarm Optimization method. The algorithm increases the stability margin and maximizes the possible motion range of the robot (by maximizing the kinematic margin of each leg). The computation of the kinematic margin is performed by using an analytical function obtained with the Gaussian approximation. The Gaussian-based approximation significantly decreases the time consumed by the algorithm and allows to implement the posture optimization procedure on the real robot. The posture optimization is used as a part of the RRT-based motion planer to find a full-body path while climbing the obstacles.

show abstract

“…An interesting approach is used on the six-legged robot Asterisk [16]. The robot is capable of executing dynamic rotational walking motions.…”

Section: B State Of the Artmentioning

confidence: 99%

Posture optimization strategy for a statically stable robot traversing rough terrain

Belter

Skrzypczyński

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

Adaptive gait for dynamic rotational walking motion by ASTERISK

Theeravithayangkura

Takubo

Ohara

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

Adaptive Gait for Dynamic Rotational Walking Motion on Unknown Non-Planar Terrain by Limb Mechanism Robot ASTERISK

Theeravithayangkura¹,

Takubo²,

Ohara³

et al. 2013

J. Robot. Mechatron.

View full text Add to dashboard Cite

An adaptive gait is proposed for dynamic rotational walking motion of multi-legged mobile robots by utilizing body angle compensation and the center of mass height control. Posture control is used to further enhance the robustness and stability of the robot based on a posture optimization database. The database is created by using a genetic algorithms in order to find the most suitable posture for each virtual plane created during body compensation in adaptive gait control. Additionally, the stability of the robot is controlled by online zero-moment point compensation and compliance control. In order to test the robustness of motion, experiments are divided into three parts: inclined-plane (linear variation), step (step variation), and obstacle (impulse variation). As a result of this research, with the proposed method, the robot could walk up and down inclined-planes with angles of 6.8° and 5.6°, respectively, and walk up and down a step and over an obstacle with a height of 20 mm.

show abstract

Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

Cited by 3 publications

References 11 publications

Posture optimization strategy for a statically stable robot traversing rough terrain

Posture optimization strategy for a statically stable robot traversing rough terrain

Adaptive gait for dynamic rotational walking motion by ASTERISK

Adaptive Gait for Dynamic Rotational Walking Motion on Unknown Non-Planar Terrain by Limb Mechanism Robot ASTERISK

Contact Info

Product

Resources

About