Journal of South China University of Technology(Natural Science) >

2011 , Vol. 39 >Issue 10: 68 - 73

DOI: https://doi.org/10.3969/j.issn.1000-565X.2011.10.012

Computer Science & Technology

Gait Planning of Biped Robots Based on Strength Pareto Evolutionary Algorithm

Expand
  • 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
毕盛(1978-) ，男，讲师，博士，主要从事仿人机器人研究．

Received date: 2010-12-17

  Revised date: 2011-07-14

  Online published: 2011-09-01

Supported by

广东省自然科学基金资助项目( S2011040002784)

Fold

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

Cite this article

Bi Sheng Zhuang Zhong-jie Min Hua-qing . Gait Planning of Biped Robots Based on Strength Pareto Evolutionary Algorithm[J]. Journal of South China University of Technology(Natural Science), 2011 , 39(10) : 68 -73 . DOI: 10.3969/j.issn.1000-565X.2011.10.012

Options
Outlines

/

〈 〉