Abstract
The ultimate goal of RoboCup depends heavily on the advances in the development of humanoid robots. Flexible walking is a crucial part of playing soccer and bipedal walking has been a very active research topic in RoboCup. In this paper a signal-based omnidirectional walking algorithm for the Aldebaran Nao humanoid robot is presented. Inspired from the existing methods in the literature, the proposed method models the omni-directional motion as the combination of a set of periodic signals. The parameters controlling the characteristics of the signals are encoded into genes and Evolutionary Strategies is used to learn an optimal set of parameters.
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Gökçe, B., Akin, H.L. (2011). Parameter Optimization of a Signal-Based Omni-Directional Biped Locomotion Using Evolutionary Strategies. In: Ruiz-del-Solar, J., Chown, E., Plöger, P.G. (eds) RoboCup 2010: Robot Soccer World Cup XIV. RoboCup 2010. Lecture Notes in Computer Science(), vol 6556. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20217-9_31
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DOI: https://doi.org/10.1007/978-3-642-20217-9_31
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-20216-2
Online ISBN: 978-3-642-20217-9
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