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http://dx.doi.org/10.13067/JKIECS.2013.8.11.1665

GA Based Locomotion Method for Quadruped Robot with Waist Joint to Walk on the Slop  

Choi, Yoon-Ho (경기대학교 전자공학과)
Kim, Dong-Sub (경기대학교 전자공학과)
Kim, Guk-Hwa (한국기계연구원 첨단생산장비연구본부)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.8, no.11, 2013 , pp. 1665-1674 More about this Journal
Abstract
In this paper, we propose a genetic algorithm(GA) based locomotion method of a quadruped robot with waist joint, which makes a quadruped robot walk on the slop efficiently. In the proposed method, we first derive the kinematic model of a quadruped robot with waist joint and then set the gene and the fitness function for GA. In addition, we determine the best attitude for a quadruped robot and the landing point of a foot in the walk space, which has the optimal energy stability margin(ESM). Finally, we verify the effectiveness of the proposed method by comparing with the performance of the previous method through the computer simulations.
Keywords
Waist joint; Quadruped robot; Walking on the Slope; Energy Stability Margin; Genetic Algorithm;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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