TY - GEN
T1 - Nature-inspired optimization for biped robot locomotion and gait planning
AU - Asta, Shahriar
AU - Sariel-Talay, Sanem
PY - 2011
Y1 - 2011
N2 - Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, flexible and robust maneuverability becomes inevitable for real or realistic environments. This paper presents new motion types for a humanoid robot in coronal plane on the basis of Partial Fourier Series model. To the best of our knowledge, this is the first time that omni-directionality has been achieved for this motion model. Three different nature-inspired optimization algorithms have been used to improve the gait quality by tuning the parameters of the proposed model. It has been empirically shown that the trajectories of the two specific motion types, namely side walk and diagonal walk, can be successfully improved by using these optimization methods. The best results are obtained by the Simulated Annealing procedure with restarting.
AB - Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, flexible and robust maneuverability becomes inevitable for real or realistic environments. This paper presents new motion types for a humanoid robot in coronal plane on the basis of Partial Fourier Series model. To the best of our knowledge, this is the first time that omni-directionality has been achieved for this motion model. Three different nature-inspired optimization algorithms have been used to improve the gait quality by tuning the parameters of the proposed model. It has been empirically shown that the trajectories of the two specific motion types, namely side walk and diagonal walk, can be successfully improved by using these optimization methods. The best results are obtained by the Simulated Annealing procedure with restarting.
KW - Biped robot locomotion
KW - coronal plane
KW - gait planning
KW - genetic algorithms
KW - omnidirectional locomotion
KW - sagittal plane
KW - simulated annealing
UR - http://www.scopus.com/inward/record.url?scp=79955856837&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-20520-0_44
DO - 10.1007/978-3-642-20520-0_44
M3 - Conference contribution
AN - SCOPUS:79955856837
SN - 9783642205194
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 434
EP - 443
BT - Applications of Evolutionary Computation - EvoApplications 2011
T2 - EvoCOMNET, EvoFIN, EvoHOT, EvoMUSART, EvoSTIM, and EvoTRANSLOG, EvoApplications 2011
Y2 - 27 April 2011 through 29 April 2011
ER -