Humanoid Gait Optimization Resorting to an Improved Simulation Model

• Tipo: Artigo em Revista Científica Internacional
• Data: 2013

Autores

António Paulo Moreira (Autor) FEUP; José Lima (Autor) Outra; José Gonçalves (Autor) Outra; Paulo Gomes Da Costa (Autor) FEUP

Revista

Título: International Journal of Advanced Robotic Systems

Vol. 10 Nº 67

Página Final: 1

ISSN: 1729-8806

Editora: SAGE

Indexação

ISI Web of Knowledge - 4 Citações

ISI Web of Science

Scopus - 3 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

CORDIS: Ciências Tecnológicas > Engenharia > Engenharia electrotécnica

Outras Informações

ID Authenticus: P-005-36E

DOI: 10.5772/54766

Abstract (EN): The simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for these robots is using simulation and optimization techniques. This paper addresses a new approach to optimizing gait parameter sets using an adaptive simulated annealing optimization algorithm, combined with a new joint model that reduces its instability. The new model and the optimization are implemented in SimTwo (a developed physical robot simulator that is capable of simulating user defined robots in a three-dimensional space, since it includes a physical model based on rigid body dynamics) and results are shown that validate the approach.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7