한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제24권4호
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  • Pages.441-447
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  • 2015
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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퍼지 기반 다기준 의사 결정을 이용한 휴머노이드 로봇 걸음새 계획기

Humanoid Robot Footstep Planner with Fuzzy-Based Multi-Criteria Decision Making

  • Lee, Ki-Baek (Dept. Electrical Engineering,, Kwangwoon University)
  • 투고 : 2015.05.11
  • 심사 : 2015.07.16
  • 발행 : 2015.08.15
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초록

This paper proposes a novel fuzzy-based multi-criteria decision making method and implements a footstep planner for humanoid robots with it. Humanoid robots require additional footstep planning process in addition to path planning for the autonomous navigation. Moreover, it is necessary to consider safety and energy consumption as well as path efficiency and multi-criteria decision making is indispensable. The proposed method can provide not only well- distributed and non-dominated, but also more preferable solutions for users. The planned footsteps by the proposed method were verified through simulation. The results indicate that the user's preference is properly reflected in optimized solutions maintaining solution quality.

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참고문헌

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