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

2001 ◽  
Vol 15 (6) ◽  
pp. 675-694 ◽  
Author(s):  
Genci Capi ◽  
Yasuo Nasu ◽  
Leonard Barolli ◽  
Kazuhisa Mitobe ◽  
Kenro Takeda
Keyword(s):  
Genetic Algorithms ◽  
Biped Robot ◽  
Gait Synthesis

Gait synthesis for a 12-degree-of-freedom biped robot by the LIPM

2018 ◽  
Author(s):  
Christian Alberto Matilde Dominguez ◽  
Eduardo Morales Sanchez ◽  
Gerardo Israel Perez Soto
Keyword(s):  
Biped Robot ◽  
Degree Of Freedom ◽  
Gait Synthesis

Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed

Robotica ◽  
2009 ◽  
Vol 27 (3) ◽  
pp. 355-365 ◽  
Author(s):  
Goswami Dip ◽  
Vadakkepat Prahlad ◽  
Phung Duc Kien
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Walking Speed ◽  
Stability Margin ◽  
Biped Robot ◽  
Bipedal Walking ◽  
Step Size ◽  
Walking Gait ◽  
Gait Synthesis ◽  
The Stability

SUMMARYThe inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot.

Optimal trajectory generation for a prismatic joint biped robot using genetic algorithms

2002 ◽  
Vol 38 (2) ◽  
pp. 119-128 ◽  
Author(s):  
G. Capi ◽  
S. Kaneko ◽  
K. Mitobe ◽  
L. Barolli ◽  
Y. Nasu
Keyword(s):  
Genetic Algorithms ◽  
Optimal Trajectory ◽  
Trajectory Generation ◽  
Biped Robot ◽  
Prismatic Joint

Gait Synthesis for a biped robot

Robotica ◽  
1997 ◽  
Vol 15 (6) ◽  
pp. 599-607 ◽  
Author(s):  
Ching-Long Shih
Keyword(s):  
Experimental Verification ◽  
Biped Robot ◽  
Variable Length ◽  
Biped Walking ◽  
Motion Trajectories ◽  
Gait Synthesis ◽  
Cubic Polynomials

In this paper, the realization of biped walking on even floor, sloping surfaces, and stairs is studied. The motion trajectories for the biped's body and its two feet are modeled by piecewise cubic polynomials. The main features of the biped robot include two variable-length legs and a moving weight which can be positioned side-to-side for balance. The contribution of this paper is gait synthesis and is experimental verification.

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