Control design principle of a low-cost humanoid system using a genetic algorithm

Authors: Yamasaki F.; Endo K.; Asada M.; Kitano H.

Source: Advanced Robotics, Volume 17, Number 8, 2003 , pp. 779-790(12)

Publisher: VSP, an imprint of Brill

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Abstract:

This paper describes a control method for stable walking of a low-cost humanoid in which a two-stage genetic algorithm is applied to find energy-efficient walking based on the inverted pendulum model and straight knee posture. The first stage is to achieve stable walking and the second to find energy-efficient walking. The simulation results are then applied to a real robot, which realizes stable walking with a smooth motion and low energy consumption. From these results, it is confirmed that this control system is valid for highly energy-efficient biped walking.

Keywords: LOW-COST HUMANOID; STRAIGHT KNEE POSTURE; INVERTED PENDULUM MODEL; GENETIC ALGORITHM.

Document Type: Research article

DOI: 10.1163/156855303322395208

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