Walking pattern optimization based on particle swarm optimization for biped robot

被引：0
|
作者：
Fu, Genping [1 ]
Yang, Yimin [1 ]
Huang, Chunlin [1 ]
机构：
[1] School of Automation, Guangdong University of Technology, Guangzhou 510090, China
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2011年 / 39卷 / SUPPL. 2期
关键词：
Robots - Swarm intelligence - Particle swarm optimization (PSO) - Walking aids - Stability;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The effect of hip joint position on zero moment point (ZMP) was analyzed, which was used as criterion for walking stability of the biped robot. The objective function was constructed using ZMP stability margin as parameter. The walking pattern for biped robot, planned by cubic spline interpolation, was optimized based on the particle swarm optimization (PSO), and a smooth gait with larger ZMP stability margin was obtained. Simulation results indicate that biped robot can walk stably and naturally with the gait planned by the presented approach.
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页码：355 / 358
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