Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm
International Journal of Advanced Robotic Systems2010Vol. 7(3)
Citations Over TimeTop 18% of 2010 papers
Abstract
In this paper, online gait control system is designed for walking-up-stairs movement according to the features of humanoid robot, the hybrid evolutionary approach based on neural network optimized by particle swarm is employed for the offline training of the movement process, and the optimal gait of the stability is generated. Additionally, through embedded monocular vision, on-site environmental information is collected as neural network input, so necessary joint trajectory is output for the movement. Simulations and experiment testify the efficiency of the method.
Related Papers
- → The Tele-operation of the Humanoid Robot-Whole Body Operation for Humanoid Robots in Contact with Environment-(2006)11 cited
- Humanoid robotics(2007)
- → Humanoid robotics(2007)4 cited
- → Experimental evaluation of the dynamic simulation of biped walking of humanoid robots(2004)27 cited
- → G1500-3-3 Passing through a door by a humanoid robot : Experimental verification(2010)2 cited