Gait Optimization on a Humanoid Robot using Particle Swarm Optimization
نویسندگان
چکیده
This paper describes the application of Particle Swarm Optimization (PSO) for gait optimization on a humanoid robot. The biped gait is modeled by a number of parameterizable trajectories. To achieve omni-directional walking, different sets of gait parameters are optimized for specific walk directions and interpolated later. By using a fitness test based on an acceleration walk, the optimized sets of parameters are suitable for a wide range of walk speeds. We tested the applicability of the approach by performing gait optimization for several walk directions on a modified Kondo KHR-1 robot. Keywords—gait modeling, gait optimization, particle swarm optimization (PSO), acceleration walk, omni-directional gait
منابع مشابه
Opposition-based Learning Particle Swarm Optimization of Running Gait for Humanoid Robot
This paper investigates the problem of running gait optimization for humanoid robot. In order to reduce energy consumption and guarantee the dynamic balance including both horizontal and vertical stability, a novel running gait generation based on opposition-based learning particle swarm optimization (PSO) is proposed which aims at high energy efficiency with better stability. In the proposed s...
متن کاملBiped Locomotion and Stability A Practical Approach
Biped locomotion has proven to be a very hard problem to solve. At current date, there exists no humanoid robot that can move as dynamic and robust as humans do. Even though there has been much research and certainly some interesting progress in biped locomotion, there is certainly no single solution that provides robots with the same capabilities as humans. What seems to be especially lacking ...
متن کاملPSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety
In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...
متن کاملLearning Fast Bipedal Locomotion Master’s Thesis
In this thesis, I present a method to optimize the clock-driven, periodical walking pattern of a humanoid robot for forward speed using metaheuristics. I start from a hand-tuned open-loop gait and enhance it with two feedback control mechanisms. First, I employ a P-controller to regulate the foot angle to reduce angular velocity of the robot’s body. The angular velocity is measured by a gyrosco...
متن کاملRobot Learning by Demonstration
In this report, two systems have been developed for robot behavior acquisition using kinesthetic demonstrations. The first enables a humanoid robot to imitate constrained reaching gestures directed towards a target using a learning algorithm based on Gaussian Mixture Regression. The imitation trajectory can be reshaped in order to satisfy the constraints of the task and it can adapt to changes ...
متن کامل