Near-optimal gait generations of a two-legged robot on rough terrains using soft computing

被引：5

作者：

Vundavilli, Pandu Ranga ^{[1
]}

Pratihar, Dilip Kumar ^{[1
]}

机构：

[1] Indian Inst Technol, Dept Mech Engn, Kharagpur 721302, W Bengal, India

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2011年 / 27卷 / 03期

关键词：

Biped robot; Rough terrains; Ascending and descending gaits; Genetic-neural system; Genetic-fuzzy system; BIPED ROBOT;

D O I：

10.1016/j.rcim.2010.09.007

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

A two-legged robot will have to generate its near-optimal gaits after ensuring maximum dynamic balance margin and minimum power consumption, while moving on the rough terrains containing some staircases and sloping surfaces. Moreover, the changes of joint torques should lie below a pre-specified small value to ensure its smooth walking. The balance of the robot and its power consumption are also dependent on hip trajectory and position of the masses on various limbs. Both neural network- and fuzzy logic-based gait planners have been developed for the same, the training of which are provided using a genetic algorithm off-line. Once optimized, the planners are found to generate optimal gaits of the two-legged robot successfully for the test cases. (c) 2010 Elsevier Ltd. All rights

引用

页码：521 / 530

页数：10

共 24 条

[1] Balanced gait generations of a two-legged robot on sloping surface
PANDU RANGA VUNDAVILLI
DILIP KUMAR PRATIHAR
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[2] Balanced gait generations of a two-legged robot on sloping surface
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Pratihar, Dilip Kumar
[J]. SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES, 2011, 36 (04): : 525 - 550
[3] Prescribed Motion of a Two-legged Walking Robot on a Rough Cylinder
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[7] Design of an Adaptive Gait Trajectory Controller based on a Hybrid Two-Legged Robot Model
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[J]. 2014 19TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2014, : 681 - 686
[8] Online dynamically balanced ascending and descending gait generations of a biped robot using soft computing
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[J]. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2007, 4 (04) : 777 - 814
[9] Optimal path and gait generations simultaneously of a six-legged robot using a GA-fuzzy approach
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[J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2002, 41 (01) : 1 - 20
[10] DESIGN AND GAIT ANALYSIS OF A TWO-LEGGED MINIATURE ROBOT WITH PIEZOELECTRIC-DRIVEN FOUR-BAR LINKAGE
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[J]. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2017, VOL 5B, 2017,

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