Multi-objective optimization for a humanoid robot walking on slopes

Author

Bi, Sheng ; Zhuang, Zhong-Jie ; Xia, Tuo ; Mo, Hua-Xi ; Min, Hua-Qing ; Luo, Rong-Hua

Author_Institution

Sch. of Comput. Sci. & Eng., South China Univ. of Technol., Guangzhou, China

Volume

3

fYear

2011

fDate

10-13 July 2011

Firstpage

1261

Lastpage

1267

Abstract

A multi-objective gait optimization method for a humanoid robot´s walking on slopes is proposed in this paper. Firstly, based on SCUT-I humanoid robot and slopes model, the complicated process of walking on slopes is parameterized so that hip and ankle trajectories are planned based on IPM (inverted pendulum model). Secondly, a multi-object optimization method based on walking stability, velocity and energy is proposed to search for the optimal gait parameters that are step, walking cycle, the supporting time of double feet and the height of foot. Finally, SCUT-I robot model is built and simulated by Matlab6.5, which verifies the effectiveness and stability of this multi-objective gait optimization method that makes the robot walk on slopes more stably, quickly and lower energy consumption.

Keywords

humanoid robots; legged locomotion; nonlinear systems; optimisation; pendulums; IPM; inverted pendulum model; multiobjective gait optimization method; slopes model; walking humanoid robot; walking stability; Foot; Hip; Humanoid robots; Legged locomotion; Robot kinematics; Trajectory; Humanoid robot; Multi-objective gait optimization; Slopes;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics (ICMLC), 2011 International Conference on

Conference_Location

Guilin

ISSN

2160-133X

Print_ISBN

978-1-4577-0305-8

Type

conf

DOI

10.1109/ICMLC.2011.6016927

Filename

6016927