Title :
Experience repository based Particle Swarm Optimization and its application to biped robot walking
Author :
Kim, Jeong-Jung ; Choi, Tae-Yong ; Lee, Ju-Jang
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., KAIST, Daejeon
Abstract :
In this paper, experience repository based particle swarm optimization (ERPSO) is suggested for effectively applying particle swarm optimization (PSO) to real life problems. The ERPSO uses a concept experience repository to store previous position and fitness of particles to accelerate convergence speed of PSO. The proposed method was compared with PSO variants in a three dimensional dynamic simulator for the bipedal walking. The ERPSO found the best fitness value and central pattern generator parameters that could produce a walking of a biped robot. And ERPSO has fast convergence property which reduces the evaluation of fitness of parameters in a real environment.
Keywords :
legged locomotion; particle swarm optimisation; biped robot walking; central pattern generator parameters; repository based particle swarm optimization; three dimensional dynamic simulator; Birds; Convergence; Genetic algorithms; Legged locomotion; Nonlinear control systems; Optimization methods; Particle swarm optimization; Power system control; Power system simulation; Voltage control;
Conference_Titel :
Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-2821-2
Electronic_ISBN :
978-1-4244-2822-9
DOI :
10.1109/ICHR.2008.4755980