Please use this identifier to cite or link to this item:
|Title:||Adjustable bipedal gait generation using genetic algorithm optimized fourier series formulation|
ZMP stability criterion
|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|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Dec 6, 2017
WEB OF SCIENCETM
checked on Nov 20, 2017
checked on Dec 10, 2017
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.