An evolutionary gait generator with online parameter adjustment for humanoid robots

Zamiri, Amin; Farzad, Amir; Saboori, E.; Rouhani, Modjtaba; Naghibzadeh, Mahmoud

doi:10.1109/aiccsa.2008.4493510

Cited by 1 publication

(1 citation statement)

References 7 publications

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“…Genetic programming (GP) was applied to the neural oscillator for human-like biped locomotion [8] and generation of gait trajectory for the humanoid robot based on genetic algorithm (GA) was proposed [9]. Also, evolutionary gait generators of which structure and parameters were optimized by GA were proposed [10], [11].…”

Section: Introductionmentioning

confidence: 99%

Evolutionary optimized footstep planning for humanoid robot

Hong

Kim

2009

2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)

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This paper proposes a novel evolutionary optimized footstep planner for humanoid robot. Firstly, a footstep planner using univector field navigation method is proposed to provide a command state (CS) which is to be the input of modifiable walking pattern generator (MWPG) at each footstep. Then the MWPG generates the associated trajectories of every leg joint of humanoid robot at each footstep to follow the inputted CS. Secondly, the step length modification method which makes the humanoid robot step over low obstacles with minimum step length is proposed. Lastly, evolutionary optimization for the univector fields is presented. The univector fields are optimized by evolutionary algorithm (EA) considering objectives in navigation of humanoid robot for efficient navigation. The effectiveness of the proposed evolutionary optimized footstep planner is demonstrated through computer simulations for the simulation model of small-sized humanoid robot, HanSaRam-VIII (HSR-VIII).

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Section: Introductionmentioning

confidence: 99%