State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm
A new approach to generate the original motion data for humanoid motion planning is presented in this paper. And a state generator is developed based on the genetic algorithm, which enables users to generate various motion states without using any reference motion data. By specifying various types o...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/50918 |
| _version_ | 1818404612795793408 |
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| author | Xuyang Wang Tiansheng Lu Peiyan Zhang |
| author_facet | Xuyang Wang Tiansheng Lu Peiyan Zhang |
| author_sort | Xuyang Wang |
| collection | DOAJ |
| description | A new approach to generate the original motion data for humanoid motion planning is presented in this paper. And a state generator is developed based on the genetic algorithm, which enables users to generate various motion states without using any reference motion data. By specifying various types of constraints such as configuration constraints and contact constraints, the state generator can generate stable states that satisfy the constraint conditions for humanoid robots. To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching. In our method, we introduce a convenient mathematic representation for the constraints involved in the state generator, and solve the optimization problem with the genetic algorithm to acquire a desired state. To demonstrate the effectiveness and advantage of the method, a number of motion states are generated according to the requirements of the motion. |
| first_indexed | 2024-12-14T08:42:56Z |
| format | Article |
| id | doaj.art-8fb6b7594b3d4d6680aa803ef714b2d2 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-14T08:42:56Z |
| publishDate | 2012-05-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-8fb6b7594b3d4d6680aa803ef714b2d22022-12-21T23:09:15ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-05-01910.5772/5091810.5772_50918State Generation Method for Humanoid Motion Planning Based on Genetic AlgorithmXuyang WangTiansheng LuPeiyan ZhangA new approach to generate the original motion data for humanoid motion planning is presented in this paper. And a state generator is developed based on the genetic algorithm, which enables users to generate various motion states without using any reference motion data. By specifying various types of constraints such as configuration constraints and contact constraints, the state generator can generate stable states that satisfy the constraint conditions for humanoid robots. To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching. In our method, we introduce a convenient mathematic representation for the constraints involved in the state generator, and solve the optimization problem with the genetic algorithm to acquire a desired state. To demonstrate the effectiveness and advantage of the method, a number of motion states are generated according to the requirements of the motion.https://doi.org/10.5772/50918 |
| spellingShingle | Xuyang Wang Tiansheng Lu Peiyan Zhang State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm International Journal of Advanced Robotic Systems |
| title | State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm |
| title_full | State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm |
| title_fullStr | State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm |
| title_full_unstemmed | State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm |
| title_short | State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm |
| title_sort | state generation method for humanoid motion planning based on genetic algorithm |
| url | https://doi.org/10.5772/50918 |
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