Optimization of gait trajectory of bipedal walking on inclined plane with pitch and roll using genetic algorithm

H. F. Yu, E. H.K. Fung, Xingjian Jing

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

This paper adopts Genetic Algorithm Optimized Fourier Series Formulation (GAOFSF) [1] to achieve stable walking on inclined plane with pitch and roll angle. The first section presents the physical configuration of bipedal robot. Also, kinematic model and inverse dynamic model are derived by Denavit-Hartenberg notation and iterative Newton-Euler dynamic algorithm respectively. Both of them consider the period of single support phase (SSP) only. Then, the formulae of the proposed trajectories which are represented by Truncated Fourier Series (TFS) are given. Moreover, the control objectives of genetic algorithm (GA) which are ZMP trajectories, strike velocity, desired step length and desired average trunk velocity are shown in the third section. Besides, the objective functions and constraints are clearly stated. In the final section, the performance of the proposed trajectories is analyzed based on the preset requirements. The optimized trajectory is found to be satisfactory since it can fulfill all the preset requirements.
Original languageEnglish
Title of host publicationASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012
Pages239-247
Number of pages9
Volume4
EditionPARTS A AND B
DOIs
Publication statusPublished - 1 Dec 2012
EventASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012 - Houston, TX, United States
Duration: 9 Nov 201215 Nov 2012

Conference

ConferenceASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012
CountryUnited States
CityHouston, TX
Period9/11/1215/11/12

ASJC Scopus subject areas

  • Mechanical Engineering

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