Biped Robot Control Using Particle Swarm Optimization

被引：0
|
作者：
Rokbani, Nizar [1 ]
Benbousaada, Elhoucine [1 ]
Ammar, Boudour [1 ]
Alimi, Adel M. [1 ]
机构：
[1] Natl Sch Engn Sfax, Res Grp Intelligent Machines, Sfax, Tunisia
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC 2010) | 2010年
关键词：
gait generation; legged locomotion; humanoid robotics; biped robot; PSO; LOCOMOTION;
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：
In this paper we propose a method to generate gaits of a biped robot by a particle swarm optimization algorithm. The system generates angular positions for joints with an interpolate end segments positions to evaluate walking stability. The proposed PSO is adapted to generate angular position joints, Human walking stability criteria are used to check and validate the gaits. The experimental procedure includes a robot assembly and online test. Then an upper torso controller is introduced to correct walking stability and limits fall downs.
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页数：7
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