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Humanoid Gait Optimization Resorting to an Improved Simulation Model : Ottimizzazione del passo di un umanoide con un modello di simulazione migliorato, in: International Journal of Advanced Robotic Systems

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Autor Lima, José L.; Gonçalves, José A.; Costa, Paulo G.; Moreira, A. Paulo
Erschienen  InTech Open Access Publisher, 2013
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Kurzbeschreibung The simulation of a robot with a high number
of joints can easily become unstable. Numerical errors
on the first joint of the chain are propagated to the other
joints. This is a very common problem in humanoid
robots. A way to plan the gait for these robots is using
simulation and optimization techniques. This paper
addresses a new approach to optimizing gait parameter
sets using an adaptive simulated annealing optimization
algorithm, combined with a new joint model that
reduces its instability. The new model and the
optimization are implemented in SimTwo (a developed
physical robot simulator that is capable of simulating
user defined robots in a three‐dimensional space, since
it includes a physical model based on rigid body
dynamics) and results are shown that validate the
approach.
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ab 2000
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no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
Verknüpfte Datensätze
Dokumente: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=32469009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32469009.html
PDF FaviconPDF  Humanoid Gait Optimization Resorting to an Improved Simulation Model
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Publikationsdatum 2013
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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