Stable Gait Optimization for Small-Sized Humanoid Robot Using CFO

被引：0
|
作者：
Tran Thien Huan [1 ]
Khuu Bach Thy [2 ]
Nguyen Ho Hieu Trung [2 ]
Ho Pham Huy Anh [2 ]
机构：
[1] Ho Chi Minh City Univ Technol & Educ, Ho Chi Minh City, Vietnam
[2] Ho Chi Minh City Univ Technol, FEEE, VNU HCM, Ho Chi Minh City, Vietnam
来源：
2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV) | 2018年
关键词：
Gait optimization for humanoid robot; Zero Moment Point (ZMP); inverse and forward kinematics; Central Force Optimization (CFO) algorithm; Modified Differential Evolution (MDE) algorithm; Particle Swarm Optimization (PSO); Genetic Algorithm (GA);
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a new way to optimize the gait design for human robots that allows stable stepping with preset foot-lifting magnitude. The novel Central Force Optimization (CFO) algorithm is used to optimize the gait parameters to help humanoid robot walk steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and improved differential evolution algorithm (MDE-Modified Differential Evolution). The simulated and experimental results applied on the small-sized humanoid robot show that the newly proposed algorithm offers an efficient and stable gait for humanoid robots with accurate foot-lifting magnitude.
引用
收藏
页码：436 / 441
页数：6
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