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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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Autore Lima, José L.; Gonçalves, José A.; Costa, Paulo G.; Moreira, A. Paulo
Pubblicato  InTech Open Access Publisher, 2013
edizione  
Volume  
ISBN
Abstract 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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Articoli a Rivista
2000 ed oltre
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Autore: 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, [...]
Pubblicato: 2004
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Documents: International Journal of Advanced Robotic Systems
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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