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Design of a customized humanoid robot with coevolution of body morphology and its locomotion

Published online by Cambridge University Press:  14 February 2022

Jiwen Zhang ,
Xunlei Shi Open the ORCID record for Xunlei Shi [Opens in a new window] ,
Chenglong Fu ,
Li Liu  and
Ken Chen
Jiwen Zhang
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Xunlei Shi*
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Chenglong Fu
Affiliation:
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
Li Liu
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Ken Chen
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
*
*Corresponding author. E-mail: shixl18@mails.tsinghua.edu.cn
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Abstract

An important goal for humanoid robots is to achieve fast, flexible and stable walking. In previous research, the structure and walking algorithms evolved separately, resulting in a slow evolution speed and lack of an initial design basis. This paper proposes comprehensively considering body morphology and walking patterns, exploring the relationship between them and their influence on the motion ability. The method parameterizes the body morphology and walking patterns. Then a response surface model is established to describe the complex relationship between these parameters and finally obtain the optimized parameters, which provides a reference for the structural design and gait generation.

Keywords

coevolutionmorphologywalkhumanoidsurrogate modeloptimization
Type
Research Article
Information
Robotica , Volume 40 , Issue 9 , September 2022 , pp. 3013 - 3032
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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