Title :
Running trajectory generation for humanoid robot
Author :
Lei, Xu-sheng ; Su, Jian-Bo
Author_Institution :
Dept. of Autom. & Res. Center of Intelligent Robotics, Shanghai Jiaotong Univ., China
Abstract :
Using minimum energy function as an optimization tool, a stable trajectory for a humanoid robot to run is achieved with the genetic algorithm. Compared with other methods, it can reduce consumed energy during the whole process. The proposed method is adaptive to various step lengths and step times for running and could be applied in other missions, such as walking, overcoming obstacles. The system stability is improved by controlling shoulders and elbows to compensate the errors. The performance of the proposed method is validated by simulation of a 28 DOF humanoid robot model with ADAMS.
Keywords :
genetic algorithms; humanoid robots; position control; genetic algorithm; humanoid robot; minimum energy function; optimal trajectory; running trajectory generation; Control systems; Elbow; Error correction; Force control; Hip; Humanoid robots; Intelligent robots; Legged locomotion; Robotics and automation; Stability;
Conference_Titel :
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN :
0-7803-8403-2
DOI :
10.1109/ICMLC.2004.1382334