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: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2010-09-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/9703 |
| _version_ | 1819051730511331328 |
|---|---|
| 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 | 2024-12-21T12:08:35Z |
| format | Article |
| id | doaj.art-b7346aa188544b079e37deb675708206 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-21T12:08:35Z |
| publishDate | 2010-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-b7346aa188544b079e37deb6757082062022-12-21T19:04:39ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142010-09-01710.5772/970310.5772_9703Motion Planning for Humanoid Robot Based on Hybrid Evolutionary AlgorithmZHONG Qiu-bo0PIAO Song-hao1GAO Chao2 School of Information and Computer Engineering, Norestest Forestry University, Harbin, China School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China School of Computer Science and Technology, Harbin Institute of Technology, Harbin, ChinaIn 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.https://doi.org/10.5772/9703 |
| 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 |
| 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 |
| url | https://doi.org/10.5772/9703 |
| work_keys_str_mv | AT zhongqiubo motionplanningforhumanoidrobotbasedonhybridevolutionaryalgorithm AT piaosonghao motionplanningforhumanoidrobotbasedonhybridevolutionaryalgorithm AT gaochao motionplanningforhumanoidrobotbasedonhybridevolutionaryalgorithm |