Stable and fast model-free walk with arms movement for humanoid robots
Controlling a humanoid robot with its typical many degrees of freedom is a complex task, and many methods have been proposed to solve the problem of humanoid locomotion. In this work, we generate a gait for a Hitec Robonova-I robot using a model-free approach, where fairly simple parameterized model...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2017-06-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881416675135 |
| _version_ | 1818519956783890432 |
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| author | Marcos ROA Maximo Esther L Colombini Carlos HC Ribeiro |
| author_facet | Marcos ROA Maximo Esther L Colombini Carlos HC Ribeiro |
| author_sort | Marcos ROA Maximo |
| collection | DOAJ |
| description | Controlling a humanoid robot with its typical many degrees of freedom is a complex task, and many methods have been proposed to solve the problem of humanoid locomotion. In this work, we generate a gait for a Hitec Robonova-I robot using a model-free approach, where fairly simple parameterized models, based on truncated Fourier series, are applied to generate joint angular trajectories. To find a parameter set that generates a fast and stable walk, optimization algorithms were used, specifically a genetic algorithm and particle swarm optimization. The optimization process was done in simulation first, and the learned walk was then adapted to the real robot. The simulated model of the Robonova-I was made using the USARSim simulator, and tests made to evaluate the resulting walks verified that the best walk obtained is faster than the ones publicly available for the Robonova-I. Later, to provide an additional validation, the same process was carried out for the simulated Nao from the RoboCup 3D Soccer Simulation League. Again, the resulting walk was fast and stable, overcoming the speed of the publicly available magma-AF base team. |
| first_indexed | 2024-12-11T01:30:58Z |
| format | Article |
| id | doaj.art-b4a79adf114a43e7a3f55f0a81402d93 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T01:30:58Z |
| publishDate | 2017-06-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-b4a79adf114a43e7a3f55f0a81402d932022-12-22T01:25:22ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142017-06-011410.1177/1729881416675135Stable and fast model-free walk with arms movement for humanoid robotsMarcos ROA Maximo0Esther L Colombini1Carlos HC Ribeiro2 Autonomous Computational Systems Lab (LAB-SCA), Computer Science Division, Aeronautics Institute of Technology, São José dos Campos, São Paulo, Brazil University of Campinas, Campinas, Brazil Autonomous Computational Systems Lab (LAB-SCA), Computer Science Division, Aeronautics Institute of Technology, São José dos Campos, São Paulo, BrazilControlling a humanoid robot with its typical many degrees of freedom is a complex task, and many methods have been proposed to solve the problem of humanoid locomotion. In this work, we generate a gait for a Hitec Robonova-I robot using a model-free approach, where fairly simple parameterized models, based on truncated Fourier series, are applied to generate joint angular trajectories. To find a parameter set that generates a fast and stable walk, optimization algorithms were used, specifically a genetic algorithm and particle swarm optimization. The optimization process was done in simulation first, and the learned walk was then adapted to the real robot. The simulated model of the Robonova-I was made using the USARSim simulator, and tests made to evaluate the resulting walks verified that the best walk obtained is faster than the ones publicly available for the Robonova-I. Later, to provide an additional validation, the same process was carried out for the simulated Nao from the RoboCup 3D Soccer Simulation League. Again, the resulting walk was fast and stable, overcoming the speed of the publicly available magma-AF base team.https://doi.org/10.1177/1729881416675135 |
| spellingShingle | Marcos ROA Maximo Esther L Colombini Carlos HC Ribeiro Stable and fast model-free walk with arms movement for humanoid robots International Journal of Advanced Robotic Systems |
| title | Stable and fast model-free walk with arms movement for humanoid robots |
| title_full | Stable and fast model-free walk with arms movement for humanoid robots |
| title_fullStr | Stable and fast model-free walk with arms movement for humanoid robots |
| title_full_unstemmed | Stable and fast model-free walk with arms movement for humanoid robots |
| title_short | Stable and fast model-free walk with arms movement for humanoid robots |
| title_sort | stable and fast model free walk with arms movement for humanoid robots |
| url | https://doi.org/10.1177/1729881416675135 |
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