Gait planning of biped robots based on strength Pareto evolutionary algorithm

被引：0
|
作者：
Bi S. [1 ]
Zhuang Z.-J. [1 ]
Min H.-Q. [2 ]
机构：
[1] School of Computer Science and Engineering, South China University of Technology, Guangzhou 510006, Guangdong
[2] School of Software Engineering, South China University of Technology, Guangzhou 510006, Guangdong
来源：
Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) | 2011年 / 39卷 / 10期
关键词：
Gait planning; Humanoid robot; Multi-objective evolutionary algorithm; Strength Pareto evolutionary algorithm;
D O I：
10.3969/j.issn.1000-565X.2011.10.012
中图分类号：
学科分类号：
摘要：
In order to achieve a good walking pattern of biped robots, a multi-objective optimal method for the gait planning is proposed, with the stability, the mobility and the energy of the robot as the research focuses. In this method, the basic gaits are generated based on the inverted pendulum. Then, Pareto optimal solutions based on the basic gaits are obtained in the feasible region by means of the improved strength Pareto evolutionary algorithm (SPEA2) and the penalty function method. Finally, after the walking simulation through Matlab 6.5, some gaits are generated and are then used in SCUT-I Humanoid Robot, thus obtaining a stable walking pattern with an average velocity of 0.26 m/s.
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页码：68 / 73
页数：5
相关论文
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