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http://dx.doi.org/10.5302/J.ICROS.2005.11.1.077

A Study on the Posture Control of a Humanoid Robot  

Kim Jin-Geol (인하대학교 전자전기공학부)
Lee Bo-Hee (세명대학교 전기공학과)
Kong Jung-Shik (인하대학교 자동화공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.1, 2005 , pp. 77-83 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 a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life 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 a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.
Keywords
humanoid robot; genetic algorithm; optimal walking; gait generation;
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