Simulation and control of biped locomotion-GA optimization

Author

Rodrigues, Luis ; Prado, Miguel ; Tavares, Paulo ; Silva, Kelo Da ; Rosa, Agostinho

Author_Institution

Dept. of Electr. & Comput. Eng., IST/ISR, Lisbon, Portugal

fYear

1996

Firstpage

390

Lastpage

395

Abstract

The paper deals with the problem of biped locomotion control in the sagittal plane. A model of the biped with five linked rigid bodies is developed to simulate the system dynamics. This model has four joints of revolution, one at each link. A steady state genetic algorithm is used to find the necessary torques in each joint to obtain a desired trajectory for the biped´s trunk center of mass. Each of the individuals in the GA consists of a set of command sequences given to the biped, the fitness being obtained through simulation of the resulting motion and its comparison to the desired trajectory

Keywords

genetic algorithms; legged locomotion; mobile robots; robot dynamics; simulation; torque control; biped locomotion control; biped locomotion simulation; biped trunk center of mass; command sequences; desired trajectory; fitness; linked rigid bodies; optimization; revolving joints; sagittal plane; steady state genetic algorithm; system dynamics simulation; torques; Actuators; Control systems; Damping; Force control; Genetic algorithms; Legged locomotion; Shock absorbers; Springs; Torque control; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

Evolutionary Computation, 1996., Proceedings of IEEE International Conference on

Conference_Location

Nagoya

Print_ISBN

0-7803-2902-3

Type

conf

DOI

10.1109/ICEC.1996.542395

Filename

542395