Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm
In this paper, online gait control system is designed for walking-up-stairs movement according to the features of humanoid robot, the hybrid evolutionary approach based on neural network optimized by particle swarm is employed for the offline training of the movement process, and the optimal gait of...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2010-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/motion-planning-for-humanoid-robot-based-on-hybrid-evolutionary-algorithm |
| _version_ | 1818832183908892672 |
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| author | Zhong Qiu-Bo Piao Song-Hao Gao Chao |
| author_facet | Zhong Qiu-Bo Piao Song-Hao Gao Chao |
| author_sort | Zhong Qiu-Bo |
| collection | DOAJ |
| description | In this paper, online gait control system is designed for walking-up-stairs movement according to the features of humanoid robot, the hybrid evolutionary approach based on neural network optimized by particle swarm is employed for the offline training of the movement process, and the optimal gait of the stability is generated. Additionally, through embedded monocular vision, on-site environmental information is collected as neural network input, so necessary joint trajectory is output for the movement. Simulations and experiment testify the efficiency of the method. |
| first_indexed | 2024-12-19T01:58:59Z |
| format | Article |
| id | doaj.art-9c1a7c4ab6d64ec3be06df408ffd88c1 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-12-19T01:58:59Z |
| publishDate | 2010-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-9c1a7c4ab6d64ec3be06df408ffd88c12022-12-21T20:41:07ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142010-09-0173Motion Planning for Humanoid Robot Based on Hybrid Evolutionary AlgorithmZhong Qiu-BoPiao Song-HaoGao ChaoIn this paper, online gait control system is designed for walking-up-stairs movement according to the features of humanoid robot, the hybrid evolutionary approach based on neural network optimized by particle swarm is employed for the offline training of the movement process, and the optimal gait of the stability is generated. Additionally, through embedded monocular vision, on-site environmental information is collected as neural network input, so necessary joint trajectory is output for the movement. Simulations and experiment testify the efficiency of the method.http://www.intechopen.com/articles/show/title/motion-planning-for-humanoid-robot-based-on-hybrid-evolutionary-algorithmhumanoid robot; neural network; particle swarm optimization; gait control |
| spellingShingle | Zhong Qiu-Bo Piao Song-Hao Gao Chao Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm International Journal of Advanced Robotic Systems humanoid robot; neural network; particle swarm optimization; gait control |
| title | Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm |
| title_full | Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm |
| title_fullStr | Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm |
| title_full_unstemmed | Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm |
| title_short | Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm |
| title_sort | motion planning for humanoid robot based on hybrid evolutionary algorithm |
| topic | humanoid robot; neural network; particle swarm optimization; gait control |
| url | http://www.intechopen.com/articles/show/title/motion-planning-for-humanoid-robot-based-on-hybrid-evolutionary-algorithm |
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