Application of Particle Swarm Optimization to Humanoid Robot Walking

被引：0
|
作者：
Choi, YoungLim [1 ]
Choi, NakYoon [1 ]
Kim, Jong-Wook [1 ]
机构：
[1] Dong A Univ, Dept Elect Engn, Busan, South Korea
来源：
6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS | 2012年
基金：
新加坡国家研究基金会;
关键词：
biped walking; gait analysis; humanoid robot; particle swarm optimization; joint trajectory generation;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Humanoid robot is the most popular robot type, which requires biped walking as a basic locomotion technique. This paper newly proposes a design technique of two-stage gait cycle adopting the joint angle data for normal walking, interpolation techniques with blending polynomial, and PSO as a global optimization method. Effectiveness of the proposed gait design scheme is verified through simulation.
引用
收藏
页码：2047 / 2050
页数：4
相关论文
共 50 条
  • [1] 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
  • [2] Experience Repository based Particle Swarm Optimization and its Application to Biped Robot Walking
    Kim, Jeong-Jung
    Choi, Tae-Yong
    Lee, Ju-Jang
    2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008), 2008, : 380 - 385
  • [3] Walking pattern optimization based on particle swarm optimization for biped robot
    Fu, Genping
    Yang, Yimin
    Huang, Chunlin
    Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2011, 39 (SUPPL. 2): : 355 - 358
  • [4] Particle Swarm Optimization aided PID gait controller design for a humanoid robot
    Kashyap, Abhishek Kumar
    Parhi, Dayal R.
    ISA TRANSACTIONS, 2021, 114 : 306 - 330
  • [5] Development of Humanoid Robot Simulator for Gait Learning by Using Particle Swarm Optimization
    Kuo, Ping-Huan
    Ho, Ya-Fang
    Lee, Kai-Fan
    Tai, Li-Heng
    Li, Tzuu-Hseng S.
    2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013), 2013, : 2683 - 2688
  • [6] Optimization of Biped Robot Walking Based on the Improved Particle Swarm Algorithm
    Zhang, Chao
    Liu, Mei
    Zhong, Peisi
    Yang, Shihao
    Liang, Zhongyuan
    Song, Qingjun
    INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS, 2024, 2024
  • [7] Particle Swarm Optimization for robot target tracking application
    Rayala, Santosh Sai
    Kumar, N. Ashok
    MATERIALS TODAY-PROCEEDINGS, 2020, 33 : 3600 - 3603
  • [8] Efficient walking speed optimization of a humanoid robot
    Hemker, T.
    Stelzer, M.
    Von Stryk, O.
    Sakamoto, H.
    International Journal of Robotics Research, 2009, 28 (02): : 303 - 314
  • [9] OPPOSITION-BASED LEARNING PARTICLE SWARM OPTIMIZATION OF RUNNING GAIT FOR HUMANOID ROBOT
    Yang, Liang
    Song Xijia
    Deng, Chunjian
    INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS, 2015, 8 (02): : 1162 - 1179
  • [10] Dynamic Walking Gait Designing for Biped Robot Based on Particle Swarm Optimization
    Wu, Shuaijun
    Pan, Gang
    Yu, Ling
    2012 INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING AND COMMUNICATION TECHNOLOGY (ICCECT 2012), 2012, : 372 - 377
12345