Abstract
This paper presents an online-adjustable method for generating reliable and optimal stable human-like gaits suitable for inclined surfaces for a biped robot based on a Tailored Fourier Series Formulation with coefficients obtained using Genetic Algorithm. The generated gaits are optimized with respect to posture stability, even walking speed and low foot strike velocities. The walking rhythm and walking pattern are designed to be online adjustable using feedback information from the environment. This Genetic Algorithm Optimized Fourier Series Formulation (GAOFSF) approach is a general gait generation method not limited to any specific kinematic structure of the robot and can be applied to motions of different requirements. In this paper, the results of the application of the GAOFSF approach, including dynamic simulation, for walking on terrains with slopes are presented.
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© 2006 CISM, Udine
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Yang, L., Chew, C.M., Zielinska, T., Poo, A.N. (2006). Reliable and Adjustable Biped Gait Generation for Slopes Using a GA Optimized Fourier Series Formulation. In: Zielińska, T., Zieliński, C. (eds) Romansy 16. CISM Courses and Lectures, vol 487. Springer, Vienna. https://doi.org/10.1007/3-211-38927-X_25
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DOI: https://doi.org/10.1007/3-211-38927-X_25
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-36064-4
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