Humanoid Robot Gait Optimization: Stretched Simulated Annealing and Genetic Algorithm a Comparative Study

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Pereira, AI (Author) Other; Lima, J (Author) Other; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: AIP Conference Proceedings

Pages: 598-601

11th International Conference of Numerical Analysis and Applied Mathematics (ICNAAM)

GREECE, SEP 21-27, 2013

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 1 Citation

Other information

Authenticus ID: P-008-GR6

DOI: 10.1063/1.4825562

Abstract (EN): There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The presented paper addresses a comparison between two optimization methods, the Stretched Simulated Annealing and the Genetic Algorithm, that runs in an accurate and stable simulation model. Final results show the comparative study and demonstrate that optimization is a valid gait planning technique.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 4