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Optimal Trajectory Generation for Walking Up a Staircase of a Biped Robot Using Genetic Algorithm  

Kim, Eun-Su (동아대학 전자공학과)
Kim, Man-Seak (동아대학 전자공학과)
Kim, Jong-Wook (동아대학 전자공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.58, no.2, 2009 , pp. 373-381 More about this Journal
Abstract
In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.
Keywords
Optimization method; Heuristic algorithm; Humanoid; Biped robot; Walking staircase;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 1
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