Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2006.282077
Title: Adjustable bipedal gait generation using genetic algorithm optimized fourier series formulation
Authors: Yang, L.
Chew, C.M. 
Poo, A.N. 
Zielinska, T.
Keywords: Bipedal locomotion
Fourier series
Genetic algorithm
ZMP stability criterion
Issue Date: 2006
Source: Yang, L., Chew, C.M., Poo, A.N., Zielinska, T. (2006). Adjustable bipedal gait generation using genetic algorithm optimized fourier series formulation. IEEE International Conference on Intelligent Robots and Systems : 4435-4440. ScholarBank@NUS Repository. https://doi.org/10.1109/IROS.2006.282077
Abstract: This paper presents a method for optimally generating stable bipedal walking gaits, based on a Truncated Fourier Series Formulation with coefficients tuned by Genetic Algorithm. It also provides a way to adjust the stride-frequency, step-length or walking pattern in real-time. The proposed approach to gait synthesis is not limited by the robot kinematic structure and can be used to satisfy various motion assumptions. It is also easy to generate optimal gaits on terrains of different slopes or on stairs under different motion requirements. Dynamic simulation results show the validity and robustness of the approach. The gaits generated resulted in human-like motions optimized for stability, even walking speed and lower leg-strike velocity of the swing foot. © 2006 IEEE.
Source Title: IEEE International Conference on Intelligent Robots and Systems
URI: http://scholarbank.nus.edu.sg/handle/10635/73134
ISBN: 142440259X
DOI: 10.1109/IROS.2006.282077
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