Stable Gait Optimization for Small-Sized Humanoid Robot Using CFO

被引：0
|
作者：
Tran Thien Huan [1 ]
Khuu Bach Thy [2 ]
Nguyen Ho Hieu Trung [2 ]
Ho Pham Huy Anh [2 ]
机构：
[1] Ho Chi Minh City Univ Technol & Educ, Ho Chi Minh City, Vietnam
[2] Ho Chi Minh City Univ Technol, FEEE, VNU HCM, Ho Chi Minh City, Vietnam
来源：
2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV) | 2018年
关键词：
Gait optimization for humanoid robot; Zero Moment Point (ZMP); inverse and forward kinematics; Central Force Optimization (CFO) algorithm; Modified Differential Evolution (MDE) algorithm; Particle Swarm Optimization (PSO); Genetic Algorithm (GA);
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a new way to optimize the gait design for human robots that allows stable stepping with preset foot-lifting magnitude. The novel Central Force Optimization (CFO) algorithm is used to optimize the gait parameters to help humanoid robot walk steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and improved differential evolution algorithm (MDE-Modified Differential Evolution). The simulated and experimental results applied on the small-sized humanoid robot show that the newly proposed algorithm offers an efficient and stable gait for humanoid robots with accurate foot-lifting magnitude.
引用
收藏
页码：436 / 441
页数：6
相关论文
共 50 条
  • [21] A new humanoid robot gait generation based on multiobjective optimization
    Capi, G
    Yokota, M
    Mitobe, K
    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2, 2005, : 450 - 454
  • [22] Robot-assisted gait training using a very small-sized Hybrid Assistive Limb® for pediatric cerebral palsy: A case report
    Kuroda, Mayumi
    Nakagawa, Shogo
    Mutsuzaki, Hirotaka
    Mataki, Yuki
    Yoshikawa, Kenichi
    Takahashi, Kazushi
    Nakayama, Tomohiro
    Iwasaki, Nobuaki
    BRAIN & DEVELOPMENT, 2020, 42 (06): : 468 - 472
  • [23] An improvement on the mechanical design of the medium & small sized humanoid robot
    Xiao, Yue
    Zhang, Jun-Bin
    Mao, Liu
    Chai, Feng-Jin
    Journal of Harbin Institute of Technology (New Series), 2011, 18 (SUPPL. 1) : 89 - 90
  • [24] Optimal nature-walking gait for humanoid robot using Jaya optimization algorithm
    Tran Thien Huan
    Ho Pham Huy Anh
    Cao Van Kien
    ADVANCES IN MECHANICAL ENGINEERING, 2019, 11 (11)
  • [25] Dynamically stable gait planning for a humanoid robot to climb sloping surface
    Zhou, CJ
    Yue, PK
    Ni, J
    Chan, SB
    2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, 2004, : 341 - 346
  • [26] Novel Stable Walking for Humanoid Robot Using Particle Swarm Optimization Algorithm
    Tran Thien Huan
    Ho Pham Huy Anh
    PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE AND INDUSTRIAL ENGINEERING (AIIE 2015), 2015, 123 : 322 - 325
  • [27] THE GEOMETRIC AND KINEMATIC MODEL OF RTTRR SMALL-SIZED MODULAR ROBOT
    Detesan, Ovidiu-Aurelian
    ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2015, 58 (04): : 513 - 518
  • [28] Development of a Small-Sized Urban Cable Conduit Inspection Robot
    You, Yiqiang
    Zheng, Yichen
    Huang, Kangle
    He, Yuling
    Huang, Zhiqing
    Zhan, Lulin
    ACTUATORS, 2024, 13 (09)
  • [29] Experimental evaluation of a small-sized continuum robot for grasping tasks
    Mehrkish, Ali
    Janabi-Sharifi, Farrokh
    TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2024, 48 (04) : 572 - 580
  • [30] Human Evaluation of Affective Body Motions Expressed by a Small-Sized Humanoid Robot: Comparison between Elder People and University Students
    Nomura, Tatsuya
    Nakao, Akira
    RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2, 2009, : 505 - 510
12345