Gait synthesis for a biped robot climbing sloping surfaces using neural networks. I. Static learning

2003 ◽  
Author(s):  
A.W. Salatian ◽  
Y.F. Zheng
Keyword(s):  
Neural Networks ◽  
Biped Robot ◽  
Gait Synthesis

Gait synthesis for a 12-degree-of-freedom biped robot by the LIPM

2018 ◽  
Author(s):  
Christian Alberto Matilde Dominguez ◽  
Eduardo Morales Sanchez ◽  
Gerardo Israel Perez Soto
Keyword(s):  
Biped Robot ◽  
Degree Of Freedom ◽  
Gait Synthesis

Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed

Robotica ◽  
2009 ◽  
Vol 27 (3) ◽  
pp. 355-365 ◽  
Author(s):  
Goswami Dip ◽  
Vadakkepat Prahlad ◽  
Phung Duc Kien
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Walking Speed ◽  
Stability Margin ◽  
Biped Robot ◽  
Bipedal Walking ◽  
Step Size ◽  
Walking Gait ◽  
Gait Synthesis ◽  
The Stability

SUMMARYThe inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot.

Sign in / Sign up

Export Citation Format

Share Document