DocumentCode :
2554431
Title :
Walking pattern based on simulated annealing for biped robotics
Author :
Luo, Ren C. ; Chang, Hong-Yi ; Chang, Hong-Hao ; Yang, Yi-Ping
Author_Institution :
Intell. Robot. & Autom. Lab., Nat. Taiwan Univ., Taipei, Taiwan
fYear :
2011
fDate :
21-25 June 2011
Firstpage :
1135
Lastpage :
1140
Abstract :
Biped robotics has attracted many research efforts for several decades. There are many researches on stability issues of biped robots. Among these, how to control the walking patterns is especially important in biped robot walking. This paper proposes a walking pattern control methodology inspired from biped animals. These animals tend to lower down the mass center to some specific position at first, and then rise up from the position to regular height of standing when they´re walking with large steps. Inspired from this behavior, we first use an inverse pendulum model to interpret it, and then design a walking pattern used in biped robot walking to realize human-like natural walking. From our experiment, we find out that the lowest position of the body mass center do have a large influence on the time of performing a full walking pattern. More seriously, a walking pattern with a bad lowest position may result in the falling down of the biped robot. In order to maintain the stability and precisely control the execution time of the walking pattern, Simulated Annealing is used in the machine learning. A 2D biped robot walking simulation system is established to realize this method. We demonstrate this algorithm in this simulation system from a fall down situation to reaching the desired step time precisely. The system can be fully controlled through this proposed approach.
Keywords :
learning systems; legged locomotion; nonlinear control systems; pendulums; simulated annealing; stability; 2D biped robot walking simulation system; biped animals; body mass center; human-like natural walking; inverse pendulum model; machine learning; mass center; simulated annealing; stability issues; walking pattern control methodology; Leg; Legged locomotion; Mathematical model; Optimization; Robot kinematics; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location :
Taipei
Print_ISBN :
978-1-61284-698-9
Type :
conf
DOI :
10.1109/WCICA.2011.5970694
Filename :
5970694
Link To Document :
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