Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2008.04a
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- Pages.75-76
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- 2008
Trajectory Parameter Optimization using Genetic Algorism
유전알고리즘을 이용한 워킹 궤적 파라미터의 최적화
- Son, In-Hye (Dept. of Electronics, Kyung Hee Univ.) ;
- Kim, Dong-Han (Dept. of Electronics, Kyung Hee Univ.) ;
- Park, Chong-Kug (Dept. of Electronics, Kyung Hee Univ.)
- Published : 2008.04.25
Abstract
In oder for the robot to walk with stability, trajectory generation method for the biped robot is important. In this paper proposed the genetic algorithm to optimize biped robot motion parameters. Because most of trajectory generation, the walking parameters determined arbitrarily. Formulating the constraints of the motion parameters, and the trajectory is derived by cubic spline function. Finally walking patterns are described through simulation studies. When the ZMP(zero moment point) and DSM(dynamic stability margin) are satisfied, the walking pattern is chosen.
Keywords