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http://dx.doi.org/10.5391/JKIIS.2007.17.6.843

Generation of Falling Motion for Humanoid Robot Using GA  

An, Kwang-Chul (서경대학교 전자공학과)
Cho, Young-Wan (서경대학교 컴퓨터공학과)
Seo, Ki-Sung (서경대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.17, no.6, 2007 , pp. 843-848 More about this Journal
Abstract
This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a GA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. A couple of fitness functions are provided to generate various falling motions. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.
Keywords
Falling Motion Generation; Humanoid Robot; Genetic Algorithm; Sony QRIO; Webots;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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