Genetic optimization for the design of walking patterns of a biped robot

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

doi:10.1007/978-3-642-04514-1_15

Genetic optimization for the design of walking patterns of a biped robot

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

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Producción científica: Capítulo del libro/informe/acta de congreso › Capítulo › revisión exhaustiva

Resumen

This paper presents an Genetic Algorithm(GA) for the design of walking patterns of a 3-DOF biped robot formulated as a system with impulse effects. The GA optimizes the coefficients of a polynomialwhich represents the desired behavior of the walking which is included into the dynamics of the biped robot to obtain periodic motions while fulfills a minimal energy consumption over a complete walking cycle assumed as single support and instantaneous double support phases. Optimization results are presented showing walking patterns with low energy consumption and periodic motions.

Idioma original	Inglés
Título de la publicación alojada	Evolutionary Design of Intelligent Systems in Modeling, Simulation and Control
Editores	Oscar Castillo, Witold Pedrycz, Janusz Kacprzyk
Páginas	259-271
Número de páginas	13
DOI	https://doi.org/10.1007/978-3-642-04514-1_15
Estado	Publicada - 2009

Serie de la publicación

Nombre	Studies in Computational Intelligence
Volumen	257
ISSN (versión impresa)	1860-949X

ODS de las Naciones Unidas

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10.1007/978-3-642-04514-1_15

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Cardenas-Maciel, S. L., Castillo, O., Aguilar, L. T., & Rodríguez-Díaz, A. (2009). Genetic optimization for the design of walking patterns of a biped robot. En O. Castillo, W. Pedrycz, & J. Kacprzyk (Eds.), Evolutionary Design of Intelligent Systems in Modeling, Simulation and Control (pp. 259-271). (Studies in Computational Intelligence; Vol. 257). https://doi.org/10.1007/978-3-642-04514-1_15

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title = "Genetic optimization for the design of walking patterns of a biped robot",

abstract = "This paper presents an Genetic Algorithm(GA) for the design of walking patterns of a 3-DOF biped robot formulated as a system with impulse effects. The GA optimizes the coefficients of a polynomialwhich represents the desired behavior of the walking which is included into the dynamics of the biped robot to obtain periodic motions while fulfills a minimal energy consumption over a complete walking cycle assumed as single support and instantaneous double support phases. Optimization results are presented showing walking patterns with low energy consumption and periodic motions.",

author = "Cardenas-Maciel, {Selene L.} and Oscar Castillo and Aguilar, {Luis T.} and Antonio Rodr{\'i}guez-D{\'i}az",

year = "2009",

doi = "10.1007/978-3-642-04514-1_15",

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Cardenas-Maciel, SL, Castillo, O, Aguilar, LT & Rodríguez-Díaz, A 2009, Genetic optimization for the design of walking patterns of a biped robot. En O Castillo, W Pedrycz & J Kacprzyk (eds.), Evolutionary Design of Intelligent Systems in Modeling, Simulation and Control. Studies in Computational Intelligence, vol. 257, pp. 259-271. https://doi.org/10.1007/978-3-642-04514-1_15

Genetic optimization for the design of walking patterns of a biped robot. / Cardenas-Maciel, Selene L.; Castillo, Oscar; Aguilar, Luis T. et al.
Evolutionary Design of Intelligent Systems in Modeling, Simulation and Control. ed. / Oscar Castillo; Witold Pedrycz; Janusz Kacprzyk. 2009. p. 259-271 (Studies in Computational Intelligence; Vol. 257).

Producción científica: Capítulo del libro/informe/acta de congreso › Capítulo › revisión exhaustiva

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AB - This paper presents an Genetic Algorithm(GA) for the design of walking patterns of a 3-DOF biped robot formulated as a system with impulse effects. The GA optimizes the coefficients of a polynomialwhich represents the desired behavior of the walking which is included into the dynamics of the biped robot to obtain periodic motions while fulfills a minimal energy consumption over a complete walking cycle assumed as single support and instantaneous double support phases. Optimization results are presented showing walking patterns with low energy consumption and periodic motions.

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Genetic optimization for the design of walking patterns of a biped robot

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