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http://dx.doi.org/10.5302/J.ICROS.2004.10.9.833

Optimal Gait Trajectory Generation and Optimal Design for a Biped Robot Using Genetic Algorithm  

Kwon Ohung (한양대학교 정밀기계공학과)
Kang Minsung (한국생산기술연구원)
Park Jong Hyeon (한양대학교 기계공학부)
Choi Moosung (한국생산기술연구원)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.9, 2004 , pp. 833-839 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 links composing of a biped robot using Real-Coded Genetic Algorithm. Generally, in order to utilize optimization algorithms, the system model and design variables must be defined. Firstly, the proposed model is a 6-DOF biped robot composed of seven links, since many of the essential characteristics of the human walking motion can be captured with a seven-link planar biped walking in the saggital plane. Next, Fourth order polynomials are used for basis functions to approximate the walking gait. The coefficients of the fourth order polynomials are defined as design variables. In order to use the method generating the optimal gait trajectory by searching the locations of mass centers of links, three variables are added to the total number of design variables. Real-Coded GA is used for optimization algorithm by reason of many advantages. Simulations and the comparison of three methods to generate gait trajectories including the GCIPM were performed. They show that the proposed method can decrease the consumed energy remarkably and be applied during the design phase of a robot actually.
Keywords
biped robot; optimal design; genetic algorithm; gait trajectory;
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