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http://dx.doi.org/10.5302/J.ICROS.2004.10.12.1210

A Gait Implementation of a Biped Robot Based on Intelligent Algorithm  

Kang Chan-Soo (인하대학교 자동화공학과)
Kim Jin-Geol (인하대학교 전자전기공학부)
Noh Kyung-Kon (인하대학교 자동화공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.12, 2004 , pp. 1210-1216 More about this Journal
Abstract
This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.
Keywords
biped robot; ZMP; balancing motion; inverted pendulum; FDM; genetic algorithm;
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