Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1998.07g
- /
- Pages.2345-2347
- /
- 1998
A Study on the Trajectory Planning of Biped Walking Robot IWR
이족보행로봇 IWR의 궤적생성에 관한 연구
- Choi, Young-Ha (Dept of Industrial Automation Eng. Inha Univ) ;
- Choi, Sang-Ho (Dept of Industrial Automation Eng. Inha Univ) ;
-
Kim, Jin-Geol
(Dept of Industrial Automation Eng. Inha Univ)
- Published : 1998.07.20
Abstract
This paper deals with the trajectory planning of IWR biped robot using genetic algorithm. The trajectory of a swing leg is generated by 5th order polynomial equation. Velocities and Acceleration properties on a viapoints are needed. These constants are given by heuristic method. The optimal values are determined by G.A to minimize the jerk of a trajectory. As a result, trajectory planning is implemented not on between two viapoints but on a whole interval. Efficient numerical calculation routines and walking algorithms for simulation are accomplished by MATLAB package.
Keywords