Abstract
This paper presents the smooth walking trajectory for a biped robot using genetic algorithm. Suitable velocities and accelerations at the via-points are required for dynamic smooth walking since the incorrect via-points data can cause the discontinuity on the trajectory and the unstable walking motion as a result. Optimal via-points data can be found by minimizing the sum of deviation of velocities and accelerations as well as jerks. Using genetic algorithm, we obtained the continuity on the entire trajectory interval and the energy distribution during the walking. In conclusion, it is shown that the proposed genetic algorithm guarantees a satisfactory smooth and stable walking through the experiment on the real biped robot.
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© 2001 Springer-Verlag Berlin Heidelberg
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Kim, J.G., Noh, Kg., Park, K. (2001). Human-Like Dynamic Walking for a Biped Robot Using Genetic Algorithm. In: Liu, Y., Tanaka, K., Iwata, M., Higuchi, T., Yasunaga, M. (eds) Evolvable Systems: From Biology to Hardware. ICES 2001. Lecture Notes in Computer Science, vol 2210. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45443-8_14
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DOI: https://doi.org/10.1007/3-540-45443-8_14
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