Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2002.05a
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- Pages.450-453
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- 2002
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- 2005-8446(pISSN)
Smooth Walking Robot Using Genetic Algorithm
유전알고리즘을 이용한 유연한 보행로봇
Abstract
This paper is concerned with smooth walking robot using genetic algorithm. The new walking algorithm is proposed and we simulated and experimented the algorithm. We suggested the leg trajectory algorithm and balancing trajectory algorithm by applying genetic algorithm. First the leg trajectory algorithm generated the smooth trajectory. Also the balancing trajectory generated the optimal trajectory. We compared results with the previous walking algorithm. It showed that the new proposed algorithm generated the better walking trajectory.