전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제58권2호
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  • Pages.382-390
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  • 2009
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

최적화 기법인 mDEAS의 개발 및 휴머노이드 이족보행 시 최적 관절궤적 생성에의 적용

Development of Modular DEAS (mDEAS) and its Application to Optimal Trajectory Generation of Biped Walking

  • 발행 : 2009.02.01
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초록

This paper newly proposes a modular type dynamic encoding algorithm for searches (DEAS) which partitions the whole parameters into several modules and carries out exhaustive DEAS for each module. uDEAS is used to measure parameter sensitivities to the cost function, and the variables whose sensitivities are similar are grouped to make a module. The proposed optimization method is applied to optimal trajectory generation for biped walking of a humanoid. and the optimization result is compared with those of the former versions of DEAS.

키워드

참고문헌

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