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http://dx.doi.org/10.5391/JKIIS.2014.24.4.450

Posture Optimization for a Humanoid Robot using Particle Swarm Optimization  

Yun, JaeHum (Department of Electronic Engineering, Dong-A University)
Chien, Dang Van (Department of Electronic Engineering, Dong-A University)
Tin, Tran Trung (Department of Electronic Engineering, Dong-A University)
Kim, Jong-Wook (Department of Electronic Engineering, Dong-A University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.24, no.4, 2014 , pp. 450-456 More about this Journal
Abstract
Humanoid robot is the most suitable robot platform for effective human and robot interaction. However, the robot's complicated body structure containing more than twenty joint actuators makes it difficult to generate stable and elaborate postures using the conventional inverse kinematic method. This paper proposes an alternative approach to generate difficult postures of touching an object placed in front of the foot by the left or right hand with its torso bent forward in single support phase using the fast computational optimization method, particle swarm optimization. The simulated postures are also applied to a commercial humanoid robot platform, which validates the feasibility of the proposed approach.
Keywords
Posture; Humanoid Robot; Particle Swarm Optimization; Global Optimization;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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