Title :
Application of particle swarm optimization to humanoid robot walking
Author :
Young Lim Choi ; Nak Yoon Choi ; Jong-Wook Kim
Author_Institution :
Dept. Electron. Eng., Dong-A Univ., Busan, South Korea
Abstract :
Humanoid robot is the most popular robot type, which requires biped walking as a basic locomotion technique. This paper newly proposes a design technique of two-stage gait cycle adopting the joint angle data for normal walking, interpolation techniques with blending polynomial, and PSO as a global optimization method. Effectiveness of the proposed gait design scheme is verified through simulation.
Keywords :
design engineering; humanoid robots; interpolation; legged locomotion; particle swarm optimisation; polynomials; biped walking; blending polynomial; gait cycle; gait design scheme; global optimization method; humanoid robot walking; interpolation technique; locomotion technique; normal walking; particle swarm optimization; biped walking; gait analysis; humanoid robot; joint trajectory generation; particle swarm optimization;
Conference_Titel :
Soft Computing and Intelligent Systems (SCIS) and 13th International Symposium on Advanced Intelligent Systems (ISIS), 2012 Joint 6th International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4673-2742-8
DOI :
10.1109/SCIS-ISIS.2012.6505406
