Title :
Multi-objective walking trajectories generation for a biped robot
Author :
Lee, Joon-Yong ; Kim, Min-Soeng ; Lee, Ju-Jang
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., KAIST, Daejon, South Korea
fDate :
28 Sept.-2 Oct. 2004
Abstract :
The generation of the optimal walking pattern is an important question for a biped robot to keep walking stably. This paper is proposed for generating the walking patterns resulted in best performance of the biped robot using multiobjective evolutionary algorithm. We formulate a trajectory generation problem as a multi-objective optimal problem. We obtain all Pareto-optimal solutions on the feasible solution region for various walking pattern generation of a biped robot in EA simulation.
Keywords :
Pareto optimisation; evolutionary computation; legged locomotion; optimal control; stability; Pareto-optimal solutions; biped robot; multiobjective evolutionary algorithm; optimal walking pattern; walking trajectories generation; Foot; Hip; Knee; Legged locomotion; Robot kinematics; Silicon carbide;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1390015
