대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
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- Pages.2345-2347
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- 1998
이족보행로봇 IWR의 궤적생성에 관한 연구
A Study on the Trajectory Planning of Biped Walking Robot IWR
- 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)
- 발행 : 1998.07.20
초록
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.
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