Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Upstairs Walking of a Biped Robot Using Genetic Algorithm

유전 알고리듬을 이용한 이족 보행로봇의 계단 오르기 수행

  • Kim, Eun-Su (Department of Electronic Engineering Dong-A University) ;
  • Kim, Tae-Gyu (Department of Electronic Engineering Dong-A University) ;
  • Kim, Jong-Wook (Department of Electronic Engineering Dong-A University)
  • Published : 2008.06.18
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Abstract

In this paper, using a genetic algorithm, consisting of six to seven degrees of freedom links, walking robot to up-stair that can walk to optimize energy and stability to generate. Walking robot to up-stairs of the four-step segmentation of the various situations that match the pace and pattern so that it can generate. It also generated using genetic algorithms to test for Matlab into the Robot Simulation of the humanoid experiment was used.

Keywords