Optimal walking trajectory generation for a biped robot Using multi-objective evolutionary algorithm = 다목적 진화 연산 알고리즘을 이용한 최적화된 이족 로봇의 보행 경로 생성

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Biped type robot is more adaptable than the mobile type in various terrains. Therefore, recently it becomes an interesting topic for control researchers. Yet, the biped could topple easily, and it is difficult to control a biped robot for stable walking. Thus, the generation of the optimal walking trajectory is an important task for a biped robot. In this view, this paper proposes a method for generating stable walking trajectories that results the best performance. The proposed method uses multi-objective evolutionary algorithm, based on the known mechanical information of the biped robot. We formulate a trajectory generation as a multi-objective optimal problem, and obtain all Pareto-optimal solutions within the feasible solution region. The solution trajectories are verified for generating variable patterns by simulations.
Advisors
Lee, Ju-Jangresearcher이주장researcher
Description
한국과학기술원 : 전기및전자공학전공,
Publisher
한국과학기술원
Issue Date
2004
Identifier
238468/325007  / 020023484
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 전기및전자공학전공, 2004.2, [ vi, 61 p. ]

Keywords

EVOLUTIONARY ALGORITHM; MULTI-OBJECTIVE; WALKING TRAJECTORY; BIPED ROBOT; 이족 로봇; 진화 연산 알고리즘; 다목적; 보행 경로

URI
http://hdl.handle.net/10203/37791
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=238468&flag=dissertation
Appears in Collection
EE-Theses_Master(석사논문)
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