Multi-Objective Optimization for a Humanoid Robot Climbing Stairs based on Genetic Algorithms

摘要：

A new method of gait optimization for a humanoid robot climbing stairs based on multi-objective Genetic algorithm(GA) was proposed in this paper. Based on the humanoid robot model and the staircase model, the complicated process of climbing stairs was parameterized, and a climbing stairs mode was built. A math function, which takes the stability judgment based on zero moment point (ZMP) and energy minimization as targets, was established and solved with Genetic Algorithm, and the optimum solution was used as the basis of gait planning. The simulation results showed the feasibility and effectiveness of the method.

作者: Bi Sheng Min Huaqing Liu Qifeng Zheng Xijing

作者单位: School of Computer Science and Engineering,South China University of Technology,Guangzhou,Guangdong,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 66-71

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）