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Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed

Published online by Cambridge University Press:  01 May 2009

Goswami Dip ,
Vadakkepat Prahlad  and
Phung Duc Kien
Goswami Dip
Affiliation:
Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore117576.
Vadakkepat Prahlad*
Affiliation:
Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore117576.
Phung Duc Kien
Affiliation:
Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore117576.
*
*Corresponding author. E-mail: prahlad@ieee.org
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Summary

The inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot.

Keywords

Biped robotInverse kinematicsZero-moment-pointStability marginWalking speedGenetic algorithm
Type
Article
Information
Robotica , Volume 27 , Issue 3 , May 2009 , pp. 355 - 365
Copyright
Copyright © Cambridge University Press 2008

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