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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimization of Whole Body Cooperative Posture for an 18-DOF Humanoid Robot Using a Genetic Algorithm

유전알고리즘을 이용한 18자유도 인간형 로봇의 자세 최적화

  • 최국진 (창원대학교 메카트로닉스공학부) ;
  • 홍대선 (창원대학교 메카트로닉스공학부)
  • Published : 2008.10.01
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Abstract

When a humanoid robot pushes an object with its force, it is essential to adequately control its posture so as to maximize the surplus torque far all joints. For such purpose, this study proposes a method to find an optimal posture of a humanoid robot using a genetic algorithm in such a way that the surplus torque for all joints is maximized. In this study, pushing motion of an 18-DOF humanoid robot is considered. When the robot takes a cooperative motion to push an object, the palms and soles are assumed to be fixed at the object and ground respectively, and are subjected to sense the reaction force from the object and the ground. Then, the torques for all joints are calculated and reflected to fitness function of the genetic algorithm. To verify the effectiveness of the proposed method, a number of simulations with different fitness functions are carried out. The simulation result shows that the proposed method can be adopted to find optimized posture in cooperative motion of a humanoid robot.

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References

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