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Robot Intelligence Technology and Applications 3 pp 89–95Cite as

Stable Modifiable Walking Pattern Generator with a Vertical Foot Motion by Evolutionary Optimized Central Pattern Generator

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 345))

Abstract

This paper proposes a stable modifiable walking pattern generator with a vertical foot motion generated by a central pattern generator that is obtained from the evolutionary constrained optimization. A modifiable walking pattern generator is employed which generates sagittal and lateral position trajectories of center of mass of humanoid robot and a CPG generates the vertical foot trajectory of swing leg. The oscillation of the ground reaction forces causes the external disturbance while walking. To decrease the oscillation of the ground reaction forces, sensory feedback in the CPG is designed, which uses force sensing resistor signals. For the optimization of parameters in the CPG, two-phase evolutionary programming is employed. The effectiveness of the proposed scheme is demonstrated by simulations using a Webots dynamic simulator for a small sized humanoid robot, HSR-X, developed in the Robot Intelligence Technology Lab, KAIST.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Republic of Korea

    Chang-Soo Park & Jong-Hwan Kim

Authors
  1. Chang-Soo Park
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  2. Jong-Hwan Kim
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Corresponding author

Correspondence to Chang-Soo Park .

Editor information

Editors and Affiliations

  1. Div. Electrical Engineering, Korea Advanced Institute of Science & Technology (KAIST), Daejeon, Korea, Republic of (South Korea)

    Jong-Hwan Kim

  2. College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, China

    Weimin Yang

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engg., KAIST, Daejeon, Korea, Republic of (South Korea)

    Hyun Myung

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© 2015 Springer International Publishing Switzerland

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Park, CS., Kim, JH. (2015). Stable Modifiable Walking Pattern Generator with a Vertical Foot Motion by Evolutionary Optimized Central Pattern Generator. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_9

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  • DOI: https://doi.org/10.1007/978-3-319-16841-8_9

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-16840-1

  • Online ISBN: 978-3-319-16841-8

  • eBook Packages: EngineeringEngineering (R0)

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