Generation of initial stepping pattern of a biped robot with modular dynamic encoding algorithm for searches

Taegyu Kim; Jong-Wook Kim

doi:10.1117/12.784489

9 January 2008 Generation of initial stepping pattern of a biped robot with modular dynamic encoding algorithm for searches

Taegyu Kim, Jong-Wook Kim

Author Affiliations +

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67942D (2008) https://doi.org/10.1117/12.784489
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

In this paper, a modified version of dynamic encoding algorithm for searches (DEAS) is proposed and applied to generate walking patterns of a biped humanoid robot. For the controller of each joint motor to generate optimal trajectories, mDEAS is developed from the previous versions of exhaustive DEAS (eDEAS) and univariate DEAS (uDEAS). Modular DEAS (mDEAS) searches optimal coefficients of polynomials whose trajectories are assigned to joint motors. Since the number of the coefficients amounts up to 16, sharing search space and optimizing independently is expected to search efficiently. For validation of mDEAS, a simulation result about initial stepping is provided.

Citation Download Citation

Taegyu Kim and Jong-Wook Kim "Generation of initial stepping pattern of a biped robot with modular dynamic encoding algorithm for searches", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942D (9 January 2008); https://doi.org/10.1117/12.784489

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