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Implementation of an Intelligent Controller for Biped Walking Robot using Genetic Algorithm and Learning Control  

Kho, Jaw-Won (유한대학 컴퓨터제어과)
Lim, Dong-Cheol (성균관대 공대 전자전기공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers P / v.55, no.2, 2006 , pp. 83-88 More about this Journal
Abstract
This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using Genetic Algorithm. This paper presents a learning controller for repetitive gait control of the biped robot. The learning control scheme consists of a feedforward learning nile and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robotic motion is shown via computer simulation and experimental results with 24 DOF biped walking robot.
Keywords
Biped Robot; Genetic Algorithm; Learning control; Intelligent controller; Gait control;
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