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

  • 제65권9호
  • /
  • Pages.1551-1556
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  • 2016
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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적응적인 휴머노이드 보행을 위한 CPG 궤적 및 GP 관절 보정의 결합 기법

A Combined CPG Foot Trajectory and GP Joint Compensation Method for Adaptive Humanoid Walking

  • Jo, Youngwan (Dept. of Computer Engineering, Seokyeong University) ;
  • Kim, Hunlee (Dept. of Computer Engineering, Seokyeong University) ;
  • Seo, Kisung (Dept. of Electronics Engineering, Seokyeong University)
  • 투고 : 2016.07.10
  • 심사 : 2016.08.09
  • 발행 : 2016.09.01
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초록

A combined CPG (Central Pattern Generator) based foot trajectory and GP (Genetic Programming) based joint compensation method is presented for the adaptive humanoid walking. The CPG based foot trajectory methods have been successfully applied to basic slops and variable slops with slow rates, but have a limitation for the steep slop terrains. In order to increase an adaptability of humanoid walking for the rough terrains, a GP based joint compensation method is proposed and combined to the CPG (Central Pattern Generator) based foot trajectory method. The experiments using humanoid robot Nao are conducted in an ODE based Webots simulation environmemt to verify a stability of walking for the various aslope terrains. The proposed method is compared to the previous CPG foot trajectory technique and shows better performances especially for the steep varied slopes.

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참고문헌

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