Title :
Natural motion trajectory generation of biped locomotion robot using genetic algorithm through energy optimization
Author :
Arakawa, Takemasa ; Fukuda, Toshio
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
The purpose of this research is to study the natural motion of a biped locomotion robot walking like a human in various environments. In this paper, we report about the natural motion trajectory generation of biped locomotion robot. We apply the genetic algorithm to off-line trajectory generation of biped locomotion robot through energy optimization and aim to generate more natural motion by considering the dynamic effect. Furthermore, we formulate the trajectory generation problem as a minimizing problem of energy so as to generate natural motion. To apply this calculated trajectory to a practical robot, we build a biped locomotion robot in trial, which has 13 joints and made of aluminum materials. Finally, we confirm that the calculated natural motion trajectory can be applied to practical biped locomotion
Keywords :
genetic algorithms; legged locomotion; mobile robots; motion control; robot dynamics; biped locomotion robot; dynamics; energy optimization; genetic algorithm; mobile robots; natural motion trajectory generation; Actuators; Aluminum; Educational robots; Genetic algorithms; Humanoid robots; Humans; Legged locomotion; Robot sensing systems; Servomechanisms; Servomotors;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.571368