Please use this identifier to cite or link to this item:
Title: A uniform biped gait generator with offline optimization and online adjustable parameters
Authors: Yang, L.
Chew, C.-M. 
Zielinska, T.
Poo, A.-N. 
Keywords: Biped
Gait generation and adjustment
Genetic algorithm
Truncated Fourier series
Issue Date: Sep-2007
Citation: 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.
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.
Source Title: Robotica
ISSN: 02635747
DOI: 10.1017/S026357470700344X
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.


checked on Jul 7, 2020


checked on Jul 7, 2020

Page view(s)

checked on Jun 29, 2020

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.