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General information |
| Author |
Lima, José L.; Gonçalves, José A.; Costa, Paulo G.; Moreira, A. Paulo |
| Published |
InTech Open Access Publisher, 2013
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| 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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International Journal of Advanced Robotic Systems
Author: 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, [...]
Published: 2004
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