Title :
A biped humanoid robot´s gait planning method based on Artificial Immune Network
Author :
Yi Luo ; Zongze Wu ; Sheng Bi ; Yuheng Zhang ; Quanwei Zheng ; Quanyong Huang
Author_Institution :
Sch. of Comput. Sci. & Eng., South China Univ. of Technol., Guangzhou, China
Abstract :
A biped humanoid robot model with 12 degree of freedom is developed in this paper. To facilitate the gait pattern planning, the 3D inverted pendulum model and the ZMP are introduced to enable a human-like stable walking. Since the searching of best walk primitive is a multi-objective optimization problem, a modified aiNet Algorithm as well as SGA Algorithm is applied to the optimization process. Finally, the control parameters worked out by both algorithms are verified and compared in simulation. We find out that the result of aiNet provides the robot with better stability than SGA while they are similar in mobility.
Keywords :
artificial immune systems; humanoid robots; legged locomotion; motion control; path planning; 3D inverted pendulum model; SGA algorithm; ZMP; artificial immune network; biped humanoid robot model; gait pattern planning; human-like stable walking; mobility; modified aiNet algorithm; multiobjective optimization problem; optimization process; walk primitive; Abstracts; Joints; Optimization; Robots; AINet; Biped humanoid robot; Gait pattern planning; Multi-objective optimization; SGA;
Conference_Titel :
Machine Learning and Cybernetics (ICMLC), 2014 International Conference on
Conference_Location :
Lanzhou
Print_ISBN :
978-1-4799-4216-9
DOI :
10.1109/ICMLC.2014.7009131
