Optimal Walking Gait Generator for Biped Robot Using Modified Jaya Optimization Technique
This paper treats the optimization of the biped walking trajectory that can be used as a reference trajectory for control. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is derived for the specified positions of the hips and feet...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2020-04-01
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| Series: | International Journal of Computational Intelligence Systems |
| Subjects: | |
| Online Access: | https://www.atlantis-press.com/article/125938372/view |