Journal of South China University of Technology (Natural Science Edition) ›› 2011, Vol. 39 ›› Issue (10): 68-73.doi: 10.3969/j.issn.1000-565X.2011.10.012

• Computer Science & Technology • Previous Articles     Next Articles

Gait Planning of Biped Robots Based on Strength Pareto Evolutionary Algorithm

Bi Sheng1  Zhuang Zhong-jie1  Min Hua-qing2   

  1. 1. School of Computer Science and Engineering,South China University of Technology,Guangzhou 510006,Guangdong,China; 2. School of Software Engineering,South China University of Technology,Guangzhou 510006,Guangdong,China
  • Received:2010-12-17 Revised:2011-07-14 Online:2011-10-25 Published:2011-09-01
  • Contact: 毕盛(1978-) ，男，讲师，博士，主要从事仿人机器人研究． E-mail:picy@ scut.edu.cn
  • About author:毕盛(1978-) ，男，讲师，博士，主要从事仿人机器人研究．
  • Supported by:

    广东省自然科学基金资助项目( S2011040002784)

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Abstract:

In order to achieve a good walking pattern of biped robots,a multi-objective optimal method for the gait planning is proposed,with the stability,the mobility and the energy of the robot as the research focuses. In this method,the basic gaits are generated based on the inverted pendulum. Then,Pareto optimal solutions based on the basic gaits are obtained in the feasible region by means of the improved strength Pareto evolutionary algorithm ( SPEA2) and the penalty function method. Finally,after the walking simulation through Matlab 6.5,some gaits are generated and are then used in SCUT-I Humanoid Robot,thus obtaining a stable walking pattern with an average velocity of 0. 26m/s.

Key words: humanoid robot, gait planning, multi-objective evolutionary algorithm, strength Pareto evolutionary algorithm

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