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FIRA 2009: Advances in Robotics pp 103–111Cite as

Optimal Trajectory Generation for Walking Up and Down a Staircase with a Biped Robot Using Genetic Algorithm (GA)

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Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5744))

Abstract

In this paper, a humanoid is simulated and implemented to walk up and down a staircase using the blending polynomial and genetic algorithm (GA). Both ascending and descending a staircase are scheduled by four steps. Each step mimics natural gait of human being and is easy to analyze and implement. Optimal trajectories of ten motors in a lower extremity of a humanoid are rigorously computed to simultaneously satisfy stability condition, walking constraints, and energy efficiency requirements. As an optimization method, GA is applied to search optimal trajectory parameters in blending polynomials. The feasibility of this approach will be validated by simulation with a small humanoid robot.

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References

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Author information

Authors and Affiliations

  1. Department of Electronic Engineering, Dong-A Universisy, 840 Hadan2dong, Busan, Korea

    Eunsu Kim, Manseok Kim & Jong-Wook Kim

Authors
  1. Eunsu Kim
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  2. Manseok Kim
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  3. Jong-Wook Kim
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Editor information

Editors and Affiliations

  1. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, South Korea

    Jong-Hwan Kim

  2. Social Robotics Lab, Interactive Digital Media Institute, and Edutainment Robotics Lab Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore

    Shuzhi Sam Ge

  3. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Abdullah Al Manum  & 

  4. Technische Universität Dortmund, Germany

    Norbert Jesse

  5. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, P.O. Box, 117576, Singapore

    Sadasivan Puthusserypady K

  6. Institut für Informatik/I12, Technische Universität München, Boltzmannstr. 3,, D-85748, Garching b. München, Germany

    Ulrich Rückert

  7. School of Software Engineering and Data Communications, Queensland University of Technology, P.O. Box, Brisbane, Australia

    Joaquin Sitte

  8. Heinz Nixdorf Institute, University of Paderborn, P.O. Box, Paderborn, Germany

    Ulf Witkowski

  9. Interactive & Digital Media Institute, National University of Singapore, Blk E3A #02-04, 7 Engineering Drive 1, 117574, Singapore

    Ryohei Nakatsu

  10. University of Manitoba, R3T 2N2, Winnipeg, MB, Canada

    Jacky Baltes

  11. Autonomous Agents Laboratory, Department of Computer Science, University of Manitoba, P.O. Box, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  12. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

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© 2009 Springer-Verlag Berlin Heidelberg

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Cite this paper

Kim, E., Kim, M., Kim, JW. (2009). Optimal Trajectory Generation for Walking Up and Down a Staircase with a Biped Robot Using Genetic Algorithm (GA). In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_15

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  • DOI: https://doi.org/10.1007/978-3-642-03983-6_15

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03982-9

  • Online ISBN: 978-3-642-03983-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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