| OPTIMIZATION OF THE BIPED ROBOT GAIT USING GENETIC ALGORITHM |
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| 作者姓名： | 窦瑞军 马培荪 |
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| 作者单位： | Inst. of Robotics Research，Shanghai Jiaotong Univ.，Shanghai 200030，China |
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| 基金项目： | the Equipment Research Institute of the Fujitsu Company，Japan |
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| 摘 要： | IntroductionThe control of biped walking machines re-mains a challenge due to the high degree of com-plexity,organization,and efficiency required tomaintain balance1,2 ] .Recently,realizing the dy-namic walking of the biped is of interest to manyresearchers and engineers.One method is to designa kind of gait,then use it as a reference trajectoryfor control. According to the deviation betweenthe Zero Moment Point(ZMP) and the center ofshape ofthe supporting area,a kind of optimal gaithas be…
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OPTIMIZATION OF THE BIPED ROBOT GAIT USING GENETIC ALGORITHM |
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| DOU Rui-jun,MA Pei-sun.OPTIMIZATION OF THE BIPED ROBOT GAIT USING GENETIC ALGORITHM[J].Journal of Shanghai Jiaotong university,2001,6(2). |
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| Authors: | DOU Rui-jun MA Pei-sun |
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| Abstract: | Based on the 7-link dynamic model in the sagittal plane and the 5-link dynamic model in the lateral plane, the parametric gait of the biped robot is designed using walking velocity, step length and height of the hip. According to the condition of the stability, body swings forward and backward to dynamically balance in sagittal plane and the whole biped swings left and right to dynamically balance in lateral plane. And the genetic algorithm is applied to obtain the optimal parameters on condition of keeping dynamic stability and the minimizing of the value of the dynamic balance. |
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| Keywords: | biped parametric gait gait optimization genetic algorithm |
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