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Motion Study for a Humanoid Robot Using Genetic Algorithm  

Kong Jung-Shik (인하대학교 자동화공학과)
Lee Bo-Hee (세명대학교 전기공학과)
Kim Jin-Geol (인하대학교 전자전기 공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.23, no.7, 2006 , pp. 84-92 More about this Journal
Abstract
This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.
Keywords
humanoid robot; genetic algorithm; optimal walking; gait generation;
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