Humanoid Gait Optimization Resorting to an Improved Simulation Model
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 techn...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2013-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/54766 |
| _version_ | 1818232590299037696 |
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| author | José L. Lima José A. Gonçalves Paulo G. Costa A. Paulo Moreira |
| author_facet | José L. Lima José A. Gonçalves Paulo G. Costa A. Paulo Moreira |
| author_sort | José L. Lima |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-12T11:08:42Z |
| format | Article |
| id | doaj.art-9f44fcedf2954cf493e2694be523295a |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-12T11:08:42Z |
| publishDate | 2013-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-9f44fcedf2954cf493e2694be523295a2022-12-22T00:26:21ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-01-011010.5772/5476610.5772_54766Humanoid Gait Optimization Resorting to an Improved Simulation ModelJosé L. Lima0José A. Gonçalves1Paulo G. Costa2A. Paulo Moreira3 INESC TEC (formerly INESC Porto) and the Faculty of Engineering of the University of Porto, Porto, Portugal INESC TEC (formerly INESC Porto) and the Faculty of Engineering of the University of Porto, Porto, Portugal INESC TEC (formerly INESC Porto) and the Faculty of Engineering of the University of Porto, Porto, Portugal INESC TEC (formerly INESC Porto) and the Faculty of Engineering of the University of Porto, Porto, PortugalThe 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.https://doi.org/10.5772/54766 |
| spellingShingle | José L. Lima José A. Gonçalves Paulo G. Costa A. Paulo Moreira Humanoid Gait Optimization Resorting to an Improved Simulation Model International Journal of Advanced Robotic Systems |
| title | Humanoid Gait Optimization Resorting to an Improved Simulation Model |
| title_full | Humanoid Gait Optimization Resorting to an Improved Simulation Model |
| title_fullStr | Humanoid Gait Optimization Resorting to an Improved Simulation Model |
| title_full_unstemmed | Humanoid Gait Optimization Resorting to an Improved Simulation Model |
| title_short | Humanoid Gait Optimization Resorting to an Improved Simulation Model |
| title_sort | humanoid gait optimization resorting to an improved simulation model |
| url | https://doi.org/10.5772/54766 |
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