Gait Optimization of Biped Robot Based on Mix-encoding Genetic Algorithm

摘要：

A seven-link biped robot model with 12 rotational DOF was chosen for gait optimization. The vector describing robots position and pose was established, then the vectors expected locus during a regular step was modeled by the 5th order polynomials. The mathematic descriptions of geometry restriction, stabilization, energy dissipation, and impact to swaying leg from floor were analyzed respectively, and then the optimal gait was worked out with genetic algorithm mixing binary number encoding and floating point number encoding. Experimental results show that the optimal gait maximizes dynamic stabilization while it minimizes both energy dissipation and impact to swaying leg from floor.

作者: Lingling CHEN Peng YANG Zuojun LIU He CHEN Xin GUO

作者单位: Hebei University of Technology, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）