Natural motion trajectory generation of biped locomotion robot using genetic algorithm through energy optimization

2002 ◽  
Author(s):  
T. Arakawa ◽  
T. Fukuda
Keyword(s):  
Genetic Algorithm ◽  
Energy Optimization ◽  
Trajectory Generation ◽  
Motion Trajectory ◽  
Biped Locomotion ◽  
Natural Motion

Trajectory Generation for Redundant Manipulator using Virus-Evolutionary Genetic Algorithm with Subpopulations

1997 ◽  
Vol 1 (2) ◽  
pp. 155-161
Author(s):  
Takemasa Arakawa ◽  
◽  
Toshio Fukuda ◽  
Naoyuki Kubota ◽  
Keyword(s):  
Genetic Algorithm ◽  
Genetic Information ◽  
Energy Optimization ◽  
Trajectory Generation ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Theory Of Evolution ◽  
Evolutionary Genetic ◽  
Generation Problem ◽  
Virus Theory

In this paper, we apply a virus-evolutionary genetic algorithm with subpopulations (VEGAS) to a trajectory generation problem for redundant manipulators through energy optimization. VEGAS is based on the virus theory of evolution and VEGAS has some subpopulations that usually evolve independently. In the same subpopulation, a virus infects host individuals. And a virus sometimes immigrates from one subpopulation to another. The genetic information from one subpopulation propagates in another subpopulation only through immigration of the virus. The energy-optimized collision-free trajectory was found successfully using VEGAS.

Natural Motion Generation of Biped Locomotion Robot using Hierarchical Evolutionary Algorithm in the Various Environments

1997 ◽  
Vol 9 (6) ◽  
pp. 496-502
Author(s):  
Takemasa Arakawa ◽  
◽  
Toshio Fukuda
Keyword(s):  
Evolutionary Algorithm ◽  
Energy Minimization ◽  
Dynamic Effect ◽  
The Other ◽  
Human Walking ◽  
Motion Trajectory ◽  
Biped Locomotion ◽  
Motion Generation ◽  
Natural Motion ◽  
Generation Problem

The purpose of this research is to generate natural motion in a biped locomotion robot, like a human walking in various environments. In this paper, we report on biped locomotion robots. We apply a hierarchical evolutionary algorithm in order to generate the trajectory of a biped locomotion robot through energy optimization, and attempt to generate a more natural motion by considering the dynamic effect. The hierarchical evolutionary algorithm consists of two layers: one is the GA layer which minimizes the total energy of all the actuators, and the other is the EP layer which optimizes the interpolated configuration of the biped locomotion robot. Then we formulate a trajectory generation problem as an energy minimization problem and we apply the hierarchical evolutionary algorithm. Furthermore, we build a trial biped locomotion robot which has 13 joints and is made of aluminum. Finally, we confirm that the calculated natural motion trajectory can be applied successfully to practical biped locomotion.

Micro-Grid Energy Optimization Include Battery-Swapping-Station

2014 ◽  
Vol 672-674 ◽  
pp. 1358-1363
Author(s):  
Liu Shu ◽  
Fang Liu ◽  
Xiu Yang
Keyword(s):  
Genetic Algorithm ◽  
Renewable Energy ◽  
Electric Vehicle ◽  
Negative Impact ◽  
Operating Cost ◽  
Energy Optimization ◽  
Optimal Operation ◽  
Operation Efficiency ◽  
Micro Grid ◽  
Minimum Operating

Accessing electric vehicle (EV) into micro-grid (MG) by battery-swapping station (BSS) will not only reduce the negative impact brought by EVs which are directly accessed into MG, but also improve the capacity of MG to absorb more renewable energy. That BSS is regarded as schedulable load is guided to avoid peak and fill valley according to TOU. As a result, the gap between peak and valley of MG is decreased and the operation efficiency of MG is elevated. A specific MG is taken as the studying object and the minimum operating cost is regarded as the optimizing goal, then the genetic algorithm is used to optimize the outputting of each micro-source and the charging power of BSS so that the optimal operation is realized.

scholarly journals Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space

2013 ◽  
Vol 7 (3) ◽  
pp. 278-292 ◽  
Author(s):  
Naoki UCHIYAMA ◽  
Kazunori MORI ◽  
Kazuhiko TERASHIMA ◽  
Toru SAEKI ◽  
Toshio KAMIGAKI ◽  
...  
Keyword(s):  
Real Time ◽  
Industrial Robot ◽  
Trajectory Generation ◽  
Motion Trajectory ◽  
Optimal Motion
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