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http://dx.doi.org/10.5391/JKIIS.2011.21.5.660

Design of Leg Length for a Legged Walking Robot Based on Theo Jansen Using PSO  

Kim, Sun-Wook (경남대학교대학원 첨단공학과)
Kim, Dong-Hun (경남대학교 전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.5, 2011 , pp. 660-666 More about this Journal
Abstract
In this paper, we proposed a Particle Swarm Optimization(PSO) to search the optimal link lengths for legged walking robot. In order to apply the PSO algorithm for the proposed, its walking robot kinematic analysis is needed. A crab robot based on four-bar linkage mechanism and Jansen mechanism is implemented in H/W. For the performance index of PSO, the stride length of the legged walking robot is defined, based on the propose kinematic analysis. Comparative simulation results present to illustrate the viability and effectiveness of the proposed method.
Keywords
PSO; Legged walking robot; For-bar linkage; Jansen mechanism;
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Times Cited By KSCI : 2  (Citation Analysis)
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