Control design principle of a low-cost humanoid system using a genetic algorithm

被引：1

作者：

Yamasaki, F

Endo, K

Asada, M

Kitano, H

机构：

[1] Osaka Univ, Grad Sch Engn, Dept Adapt Machine Syst, Suita, Osaka 5650871, Japan

[2] JST, ERATO, Kitano Symbiot Syst Project, Shibuya Ku, Tokyo 1500001, Japan

[3] Keio Univ, Grad Sch Sci & Technol, Kohoku Ku, Yokohama, Kanagawa 2238522, Japan

[4] Sony Comp Sci Labs Inc, Shinagawa Ku, Tokyo 1410022, Japan

来源：

ADVANCED ROBOTICS | 2003年 / 17卷 / 08期

关键词：

low-cost humanoid; straight knee posture; inverted pendulum model; genetic algorithm;

D O I：

10.1163/156855303322395208

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes a control method for stable walking of a low-cost humanoid in which a two-stage genetic algorithm is applied to find energy-efficient walking based on the inverted pendulum model and straight knee posture. The first stage is to achieve stable walking and the second to find energy-efficient walking. The simulation results are then applied to a real robot, which realizes stable walking with a smooth motion and low energy consumption. From these results, it is confirmed that this control system is valid for highly energy-efficient biped walking.

引用

页码：779 / 790

页数：12

共 50 条

[1] Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot
Cela, Andres
Javier Yebes, J.
Arroyo, Roberto
Bergasa, Luis M.
Barea, Rafael
Lopez, Elena
[J]. SENSORS, 2013, 13 (02) : 1385 - 1401
[2] The design and control of a low cost humanoid robot
Lei, Xusheng
Wang, Tianmaio
Chen, Dianshen
Su, Jianbo
[J]. 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 763 - 768
[3] DESIGN OF A CONTROL SYSTEM FOR A LOW-COST RESEARCH REACTOR
COLE, TE
[J]. NUCLEONICS, 1953, 11 (02): : 32 - 37
[4] Antropomorphic design and operation of a new low-cost humanoid robot
Nava Rodriguez, Nestor Eduardo
Carbone, Giuseppe
Ceccarelli, Marco
[J]. 2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3, 2006, : 435 - +
[5] A design and simulation of CALUMA (Cassino low-cost humanoid robot)
Rodriguez, Nestor Eduardo Nava
Carbone, Giuseppe
Ceccarelli, Marco
[J]. PROCEEDINGS OF THE 8TH BIENNIAL CONFERENCE ON ENGINEERING SYSTEMS DESIGN AND ANALYSIS, VOL 1, 2006, : 659 - 664
[6] Design of a New Cost-Effective Head for a Low-Cost Humanoid Robot
Dang, Li
Kwon, Jacrock
[J]. 2016 IEEE 7TH ANNUAL UBIQUITOUS COMPUTING, ELECTRONICS MOBILE COMMUNICATION CONFERENCE (UEMCON), 2016,
[7] Control, design, and implementation of a low-cost ultracapacitor test system
Eroglu, Hasan Huseyin
Hava, Ahmet Masum
[J]. TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, 2013, 21 (03) : 630 - 648
[8] Building a low-cost humanoid robot
Yiu, KL
Pun, WL
Cheung, YW
Tam, HY
Luk, BL
[J]. PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2005, VOLS 1 AND 2, 2005, : 374 - 379
[9] Design and Development of Software for the SILAR Control Process Using a Low-Cost Embedded System
Calixto-Rodriguez, M.
Valdez Martinez, Jorge S.
Meneses-Arcos, M. A.
Ortega-Cruz, Jose
Sarmiento-Bustos, E.
Reyes-Mayer, Adriana
Gonzalez-Castaneda, Michelle
Dominguez Garcia, Rodolfo Omar
[J]. PROCESSES, 2021, 9 (06)
[10] TEACHING NEURAL NETWORK CONTROL SYSTEM DESIGN USING A LOW-COST RAPID CONTROL PROTOTYPING PLATFORM
Franquiz, Francisco
Hurst, Alecia
Tang, Yan
[J]. PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2013, VOL 5, 2014,

← 1 2 3 4 5 →