Stable Modifiable Walking Pattern Generator with a Vertical Foot Motion by Evolutionary Optimized Central Pattern Generator
نویسندگان
چکیده
This paper proposes a stable modifiable walking pattern generator with a vertical foot motion generated by a central pattern generator that is obtained from the evolutionary constrained optimization. A modifiable walking pattern generator is employed which generates sagittal and lateral position trajectories of center of mass of humanoid robot and a CPG generates the vertical foot trajectory of swing leg. The oscillation of the ground reaction forces causes the external disturbance while walking. To decrease the oscillation of the ground reaction forces, sensory feedback in the CPG is designed, which uses force sensing resistor signals. For the optimization of parameters in the CPG, two-phase evolutionary programming is employed. The effectiveness of the proposed scheme is demonstrated by simulations using a Webots dynamic simulator for a small sized humanoid robot, HSR-X, developed in the Robot Intelligence Technology Lab, KAIST.
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