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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Improvement of Falling Motions for Humanoid Robot Using Injection-migration PGA

주입-이주형 PGA를 이용한 휴머노이드 로봇의 넘어짐 자세 개선

  • 안광철 (서경대학교 전자공학과) ;
  • 조영완 (서경대학교 컴퓨터공학과) ;
  • 서기성 (서경대학교 전자공학과)
  • Published : 2009.03.01
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Abstract

This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a PGA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. Injection-migration PGA technique is introduced and compared with EMO and various migration topologies. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.

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References

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