Multi-parameter Optimization for Humanoid Robot Climbing Stairs

被引：0
|
作者：
Yang, Yang [1 ]
Liu, Yunda [1 ,2 ]
Zhang, Yingjie [1 ,2 ]
Wang, Siyu [1 ]
Bi, Sheng [1 ,2 ]
Huang, Jialiang [1 ]
Zhang, Jiawei [1 ]
机构：
[1] Shenzhen Acad Robot, Shenzhen 518000, Peoples R China
[2] South China Univ Technol, Sch Comp Sci & Engn, Guangzhou 510006, Peoples R China
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017) | 2017年
基金：
中国国家自然科学基金;
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Humanoid robot has always been a popular field in robotics. Being able to walk stably in complex environments makes humanoid robots more advantageous. Stair is a common walking environment in human life, and the ability of climbing stairs is one of the basic function of humanoid robot. In this paper, the gait planning of humanoid robot climbing stairs is discussed. We use multi-objective genetic algorithm to optimize the key parameters of robot climbing stairs and simulation experiments are performed in Gazebo. The ideal gait parameters are obtained by genetic algorithm, so that the robot can walk stably and quickly.
引用
收藏
页码：2573 / 2578
页数：6
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