Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Gait Implementation of a Biped Robot Based on Intelligent Algorithm

지능 알고리즘 기반의 이족 보행로봇의 보행 구현

  • 강찬수 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 전자전기공학부) ;
  • 노경곤 (인하대학교 자동화공학과)
  • Published : 2004.12.01
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Abstract

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

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References

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