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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Evolutionary Generation of the Motions for Cooperative Work between Humanoid and Mobile Robot

휴머노이드와 모바일 로봇의 협조작업을 위한 진화적 동작 생성

  • 장재영 (서경대학교 전자공학과) ;
  • 서기성 (서경대학교 전자공학과)
  • Published : 2010.02.01
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초록

In this paper, a prototype of cooperative work model for multi-robots system is introduced and the evolutionary approach is applied to generate the motions for the cooperative works of multi-robots system using genetic algorithm. The cooperative tasks can be performed by a humanoid robot and a mobile robot to deliver objects from shelves. Generation of the humanoid motions such as pick up, rotation, and place operation for the cooperative works are evolved. Modeling and computer simulation for the cooperative robots system are executed in Webots environments. Experimental results show the feasible and reasonable solutions for humanoid cooperative tasks are obtained.

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참고문헌

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