Generation of walking periodic motions for a biped robot via genetic algorithms

Selene L. Cardenas-Maciel; Oscar Castillo; Luis T. Aguilar

doi:10.1016/j.asoc.2011.05.030

Generation of walking periodic motions for a biped robot via genetic algorithms

Selene L. Cardenas-Maciel, Oscar Castillo, Luis T. Aguilar

Research output: Contribution to journal › Article › peer-review

30 Scopus citations

Abstract

This paper presents the design of walking motions of a biped robot by a computational intelligent method. The proposed method finds the parameters of the output functions that produce such motion in the closed-loop system which fulfill the requirements of stability and minimal energy control by formulating a constrained optimization problem. A set of parameters which produces periodic motions with low energy control magnitudes and its closed-loop system trajectories are shown through a numerical study case of a 3-DOF biped robot.

Original language	English
Pages (from-to)	5306-5314
Number of pages	9
Journal	Applied Soft Computing Journal
Volume	11
Issue number	8
DOIs	https://doi.org/10.1016/j.asoc.2011.05.030
State	Published - Dec 2011
Externally published	Yes

Keywords

Biped robot walking
Constrained optimization
Genetic algorithms
Periodic motions design

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10.1016/j.asoc.2011.05.030

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title = "Generation of walking periodic motions for a biped robot via genetic algorithms",

abstract = "This paper presents the design of walking motions of a biped robot by a computational intelligent method. The proposed method finds the parameters of the output functions that produce such motion in the closed-loop system which fulfill the requirements of stability and minimal energy control by formulating a constrained optimization problem. A set of parameters which produces periodic motions with low energy control magnitudes and its closed-loop system trajectories are shown through a numerical study case of a 3-DOF biped robot.",

keywords = "Biped robot walking, Constrained optimization, Genetic algorithms, Periodic motions design",

author = "Cardenas-Maciel, {Selene L.} and Oscar Castillo and Aguilar, {Luis T.}",

note = "Funding Information: This work was supported in part by Conacyt under Grant 127575 and by DGEST under Grant 4378.11-P. ",

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AU - Cardenas-Maciel, Selene L.

AU - Castillo, Oscar

AU - Aguilar, Luis T.

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PY - 2011/12

Y1 - 2011/12

N2 - This paper presents the design of walking motions of a biped robot by a computational intelligent method. The proposed method finds the parameters of the output functions that produce such motion in the closed-loop system which fulfill the requirements of stability and minimal energy control by formulating a constrained optimization problem. A set of parameters which produces periodic motions with low energy control magnitudes and its closed-loop system trajectories are shown through a numerical study case of a 3-DOF biped robot.

AB - This paper presents the design of walking motions of a biped robot by a computational intelligent method. The proposed method finds the parameters of the output functions that produce such motion in the closed-loop system which fulfill the requirements of stability and minimal energy control by formulating a constrained optimization problem. A set of parameters which produces periodic motions with low energy control magnitudes and its closed-loop system trajectories are shown through a numerical study case of a 3-DOF biped robot.

KW - Biped robot walking

KW - Constrained optimization

KW - Genetic algorithms

KW - Periodic motions design

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DO - 10.1016/j.asoc.2011.05.030

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SP - 5306

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JO - Applied Soft Computing Journal

JF - Applied Soft Computing Journal

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ER -

Generation of walking periodic motions for a biped robot via genetic algorithms

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Keywords

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