한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제20권8호
  • /
  • Pages.135-143
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  • 2003
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

유전 알고리즘 기반의 이족보행로봇 시스템에 관한 연구

A Study on Genetic Algorithm-based Biped Robot System

  • 공정식 (인하대학교 자동화공학과) ;
  • 한경수 (인하대학교 전자전기공학부) ;
  • 김진걸 (인하대학교 전자전기공학부)
  • 발행 : 2003.08.01
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초록

This paper presents the impact minimization of a biped robot by using genetic algorithm. In case we want to accomplish the designed plan under the special environments, a robot will be required to have walking capability and patterns with legs, which are in a similar manner as the gaits of insects, dogs and human beings. In order to walk more effectively, studies of mobile robot movement are needed. To generate optimal motion for a biped robot, we employ genetic algorithm. Genetic algorithm is searching for technology that can look for solution from the whole district, and it is possible to search optimal solution from a fitness function that needs not to solve differential equation. In this paper, we generate trajectories of gait and trunk motion by using genetic algorithm. Using genetic algorithm not only on gait trajectory but also on trunk motion trajectory, we can obtain the smoothly stable motion of robot that has the least impact during the walk. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

키워드

참고문헌

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