Browse > Article
http://dx.doi.org/10.21289/KSIC.2019.22.2.87

Optimization of Posture for Humanoid Robot Using Artificial Intelligence  

Choi, Kook-Jin (Dept. of Mechatronics)
Publication Information
Journal of the Korean Society of Industry Convergence / v.22, no.2, 2019 , pp. 87-93 More about this Journal
Abstract
This research deals with posture optimization for humanoid robot against external forces using genetic algorithm and neural network. When the robot takes a motion to push an object, the torque of each joint is generated by reaction force at the palm. This study aims to optimize the posture of the humanoid robot that will change this torque. This study finds an optimized posture using a genetic algorithm such that torques are evenly distributed over the all joints. Then, a number of different optimized postures are generated from various the reaction forces at the palm. The data is to be used as training data of MLP(Multi-Layer Perceptron) neural network with BP(Back Propagation) learning algorithm. Humanoid robot can find the optimal posture at different reaction forces in real time using the trained neural network include non-training data.
Keywords
Humanoid Robot; Artificial Intelligent; Genetic Algorithm; Neural Network; Optimization;
Citations & Related Records
연도 인용수 순위
  • Reference
1 I. Kato, S. Ohteru, H. Kobayashi, K. Shirai and A. Uchiyama, "Information-power machine with senses and limbs (WABOT-1)," Proc. of the 1st CISM-IFoMM Symposium on Theory and Practice of Robots and Manipulators, pp. 11-24, (1973).
2 Arakawa and T. Fukuda, "Natural motion generation of biped locomotion using hierarchical trajectory generation method consisting of GA, EP layers," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 211-216, (1997).
3 D. Katic and M. Vukobratovic. "Intelligent soft-computing paradigms for humanoid robot," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2533-2538, (2002).
4 Y. K. Hwang, K. J. Choi and D. S. Hong, "Self-learning control of cooperative motion for humanoid robots," Int. Journal of Control, Automation, and Systems, pp. 725-735, (2006).   DOI
5 K. J. Choi and D. S. Hong, "Posture Optimization for a Humanoid Robot using a Simple Genetic Algorithm," Int. Journal of Precision Engineering and Manufacturing, pp. 381-390, (2010).