Running trajectory generation for humanoid robot

被引：0
|
作者：
Lei, XS [1 ]
Su, JB [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat & Res Ctr Intelligent Robot, Shanghai 200030, Peoples R China
来源：
PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7 | 2004年
关键词：
humanoid robot; optimal trajectory; GA;
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, using minimum energy function as an optimization tool, a stable trajectory for a humanoid robot to run is achieved with the genetic algorithm. Compared with other methods, it can reduce consumed energy during the whole process. The proposed method is adaptive to various step lengths and step times for running and could be applied in other missions, such as walking, overcoming obstacles. The system stability is improved by controlling shoulders and elbows to compensate the errors. The performance of the proposed method is validated by simulation of a 28 DOF humanoid robot model with ADAMS.
引用
收藏
页码：1002 / 1007
页数：6
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