Title :
Robust humanoid turning-in-place using fourier series and genetic algorithm
Author :
Abdolmaleki, Abbas ; GhasemAghaee, Naser ; Reza, Mohammad ; Monadjemi, AmirHasan
Author_Institution :
Dept. of Comput. Eng., Univ. of Isfahan, Isfahan, Iran
Abstract :
Turning gait is a basic motion for humanoid robots. In this article a model free approach is presented and our emphasis is how to make robot´s “turn-in-place” motion more stable and faster. In this regard we use Genetic algorithm to optimize produced signals by Fourier Series (FS) which controls joint´s angels. We show the effectiveness of the proposed method through simulation and experimental results.
Keywords :
Fourier series; genetic algorithms; humanoid robots; motion control; robust control; Fourier series; genetic algorithm; humanoid robots; model free approach; robust humanoid turning-in-place; Genetic algorithms; Hip; Leg; Legged locomotion; Trajectory; Turning; Turning; fourier series; genetic algorithm; humanoid robot;
Conference_Titel :
Modeling, Simulation and Applied Optimization (ICMSAO), 2011 4th International Conference on
Conference_Location :
Kuala Lumpur
Print_ISBN :
978-1-4577-0003-3
DOI :
10.1109/ICMSAO.2011.5775489
