Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed

Goswami Dip, Vadakkepat Prahlad, Phung Duc Kien

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

48 Citaten (Scopus)

Samenvatting

The inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot.

Originele taal-2Engels
Pagina's (van-tot)355-365
Aantal pagina's11
TijdschriftRobotica
Volume27
Nummer van het tijdschrift3
DOI's
StatusGepubliceerd - 1 mei 2009
Extern gepubliceerdJa

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