Please use this identifier to cite or link to this item: https://doi.org/10.1017/S026357470800475X
Title: Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed
Authors: Dip, G.
Prahlad, V. 
Kien, P.D.
Keywords: Biped robot
Genetic algorithm
Inverse kinematics
Stability margin
Walking speed
Zero-moment-point
Issue Date: May-2009
Source: Dip, G., Prahlad, V., Kien, P.D. (2009-05). Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed. Robotica 27 (3) : 355-365. ScholarBank@NUS Repository. https://doi.org/10.1017/S026357470800475X
Abstract: The inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot. © 2008 Cambridge University Press.
Source Title: Robotica
URI: http://scholarbank.nus.edu.sg/handle/10635/56127
ISSN: 02635747
DOI: 10.1017/S026357470800475X
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