The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Optimal Trajectory Generation for Walking Up a Staircase of a Biped Robot Using Genetic Algorithm

유전 알고리듬을 이용한 이족 보행 로봇의 계단 오르기 최적 보행 궤적 생성

  • Published : 2009.02.01
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Abstract

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

Keywords

References

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