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
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