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A Study on the Gait Optimization of a Biped Robot  

공정식 (인하대학교 자동화공학과)
노경곤 (인하대학교 자동화공학)
김진걸 (인하대학교 전자전기공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.7, 2004 , pp. 115-123 More about this Journal
Abstract
This paper deals with the gait optimization of via points on biped robot. ZMP(Zero Moment point) is the most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, leg's trajectory and a desired ZMP trajectory is required, balancing motion is solved by FDM(Finite Difference Method). In this paper, optimal index is defined to dynamically stable walking of a biped robot, and genetic algorithm is applied to optimize gait trajectory and balancing motion of a biped robot. By genetic algorithm, the index of walking parameter is efficiently optimized, and dynamic walking stability is verified by ZMP verification equation. Genetic algorithm is only applied to balancing motion, and is totally applied to whole trajectory. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.
Keywords
bipedrobot; ZMP; balancing motion; gait trajectory; genetic algorithm;
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Times Cited By KSCI : 1  (Citation Analysis)
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