Evolving a locus based gait for a humanoid robot

被引：0
|
作者：
Wyeth, G [1 ]
Kee, D [1 ]
Yik, TF [1 ]
机构：
[1] Univ Queensland, Brisbane, Qld 4072, Australia
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper describes a process for evolving a stable humanoid walking gait that is based around parameterised loci of motion. The parameters of the loci are chosen by an evolutionary process based on the criteria that the robot's ZMP (Zero Moment Point) follows a desirable path. The paper illustrates the evolution of a straight line walking gait. The gait has been tested on a 1.2 m tall humanoid robot (GuRoo). The results, apart from illustrating a successful walk, illustrate the effectiveness of the ZAP path criterion in not only ensuring a stable walk, but also in achieving efficient use of the actuators.
引用
收藏
页码：1638 / 1643
页数：6
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