Please use this identifier to cite or link to this item:
|Title:||A uniform biped gait generator with offline optimization and online adjustable parameters|
Gait generation and adjustment
Truncated Fourier series
|Source:||Yang, L., Chew, C.-M., Zielinska, T., Poo, A.-N. (2007-09). A uniform biped gait generator with offline optimization and online adjustable parameters. Robotica 25 (5) : 549-565. ScholarBank@NUS Repository. https://doi.org/10.1017/S026357470700344X|
|Abstract:||This paper presents the Genetic Algorithm Optimized Fourier Series Formulation (GAOFSF) method for stable gait generation in bipedal locomotion. It uses a Truncated Fourier Series (TFS) formulation with its coefficients determined and optimized by Genetic Algorithm. The GAOFSF method can generate human-like stable gaits for walking on flat terrains as well as on slopes in a uniform way. Through the adjustment of only a single or two parameters, the step length and stride-frequency can easily be adjusted online, and slopes of different gradients are accommodated. Dynamic simulations show the robustness of the GAOFSF, with stable gaits achieved even if the step length and stride frequency are adjusted by significant amounts. With its ease of adjustments to accommodate different gait requirements, the approach lends itself readily for control of walking on a rough terrain and in the presence of external perturbations. © 2007 Cambridge University Press.|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Mar 7, 2018
WEB OF SCIENCETM
checked on Feb 5, 2018
checked on Mar 11, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.