This paper describes experiments conducted in order to simultaneously tune 15 joints of a humanoid robot. Two Genetic Algorithm (GA) based tuning methods were developed and compared against a hand-tuned solution. The system was tuned in order to minimise tracking error while at the same time achieve smooth joint motion. Joint smoothness is crucial for the accurate calculation of online ZMP esti...

The evolution of a dynamic walking gait of biped robot is presented in this paper. The gait is generated for a biped robot to walk on flat ground and climb up stairs. For the trajectory based gait generation, various parameters satisfy ZMP criterion and can realize continuous walking. The evolutionary algorithm is used to choose the parameter combinations. Simulation studies show that the algor...

This paper aims to provide an improved ZMP-based CPG model considering pitch and roll inclination. The proposed CPG model is optimized by Self-adaptive Differential Evolutionary Algorithm (SaDE). Simulation results are presented and the effectiveness of the CPG model is shown in snapshot of experiments.

This paper proposes a footstep planning algorithm based on univector field method optimized by evolutionary programming for humanoid robot to arrive at a target point in a dynamic environment. The univector field method is employed to determine the moving direction of the humanoid robot at every footstep. Modifiable walking pattern generator, extending the conventional 3D-LIPM method by allowin...

This paper deals with a new up-stair motion planning algorithm for a biped robot. The whole body of the humanoid can be visualized as a kinematically redundant robot, where the number of joints are more that the required degree of freedom. Based on the ZMP constraint equation, a sequential redundancy resolution algorithm is proposed, which ensures the ZMP trajectory, the planned operational mot...

Many popular motion editing methods do not take physical principles into account potentially producing implausible motions. This paper introduces an efficient method for touching up edited motions to improve physical plausibility. We start by estimating a mass distribution consistent with reference motions known to be physically correct. The edited motion is then divided into ground and flight ...

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-mome...

This paper describes a novel control algorithm for dynamic walking of biped humanoid robots. For the test platform, we developed KHR-2 (KAIST Humanoid Robot-2) according to our design philosophy. KHR-2 has many sensory devices analogous to human sensory organs which are particularly useful for biped walking control. First, for the biped walking motion, the motion control architecture is built a...

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with for...

This paper proposes a thorough algorithm that can tune the walking parameters (hip height, distance traveled by the hip, and times of single support phase SSP and double support phase DSP) to satisfy the kinematic and dynamic constraints: singularity condition at the knee joint, zero-moment point (ZMP) constraint, and unilateral contact constraints. Two walking patterns of biped locomotion have...