COMPARISON BETWEEN THREE APPROACHES FOR SOLVING BIPED ROBOT WALKING PROBLEM BASED ON TRUNCATED FOURIER SERIES

摘要：

Controlling a biped robot with a high degree of freedom to achieve stable, straight and fast movement patterns is one of the most complex problems.With growing computational power of computer hardware, simulation of such robots in high resolution real time environment has become more applicable.In this paper for first time we compare three approaches with together for solving the biped robot walking problem. In this scene, first we have used a modified Truncated Fourier Series (TFS) to generate angular trajectories, then to find the best angular trajectory we used three approaches.1.Genetic Algorithm(GA) 2.Genetic Algorithm parameters adaption using Learning Automata(GALA) 3.Particle Swarm Optimization(PSO) algorithm.Evaluations performed on Simulated NAO robot in RoboCup 3D soccer simulation environment.

关键词： Bipedal Locomotion Learning Automata Genetic Algorithm Particle Swarm Optimization Truncated Fourier Series

作者: OMID MOHAMAD NEZAMI MOHAMMAD REZA MEYBODI SHADI FAZELI

作者单位: Bijar Branch,Islamic Azad University Bijar,Iran Computer Engineering Department Amirkabir University of Technology Tehran,Iran

会议类型: 国际会议

会议名称: 2011 3rd International Conference on Computer Technology and Development(2011第三届计算机技术与发展国际会议 ICCTD2011)

会议地点: 成都

会议语种:英文

页码: 659-665

在线出版日期: 2011-11-25（万方平台首次上网日期，不代表论文的发表时间）