Humanoid Robot Gait Optimization: Stretched Simulated Annealing and Genetic Algorithm a Comparative Study

被引：1
|
作者：
Pereira, Ana I. [1 ,2 ]
Lima, Jose [1 ,3 ]
Costa, Paulo [3 ,4 ]
机构：
[1] Polytech Inst Braganca, Braganca, Portugal
[2] Univ Minho, ALGORITHMI, P-4719 Braga, Portugal
[3] INESC TEC, Porto, Portugal
[4] Univ Porto, Fac Engn, P-4100 Porto, Portugal
来源：
11TH INTERNATIONAL CONFERENCE OF NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2013, PTS 1 AND 2 (ICNAAM 2013) | 2013年 / 1558卷
关键词：
Humanoid Gait; Simulated annealing; Genetic Algorithm; Optimization;
D O I：
10.1063/1.4825562
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The presented paper addresses a comparison between two optimization methods, the Stretched Simulated Annealing and the Genetic Algorithm, that runs in an accurate and stable simulation model. Final results show the comparative study and demonstrate that optimization is a valid gait planning technique.
引用
收藏
页码：598 / 601
页数：4
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