| Publication type: |
Article in Proceedings |
| Author: |
Cord Niehaus, Thomas Röfer, Tim Laue |
| Editor: |
Changjiu Zhou, Enrico Pagello, Emanuele Menegatti, Sven Behnke |
| Title: |
Gait Optimization on a Humanoid Robot using Particle Swarm Optimization |
| Book / Collection title: |
Proceedings of the Second Workshop on Humanoid Soccer Robots in conjunction with the 2007 IEEE-RAS International Conference on Humanoid Robots |
| Year published: |
2007 |
| Abstract: |
This paper describes the application of Particle Swarm Optimization (PSO) for gait optimization on a humanoid robot. The biped gait is modeled by a number of parameterizable trajectories. To achieve omni-directional walking, different sets of gait parameters are optimized for specific walk directions and interpolated later. By using a fitness test based on an acceleration walk, the optimized sets of parameters are suitable for a wide range of walk speeds. We tested the applicability of the approach by performing gait optimization for several walk directions on a modified Kondo KHR-1 robot. |
| PDF Version: |
http://www.informatik.uni-bremen.de/kogrob/papers/Humanoids-Niehaus-etal-07.pdf |
| Status: |
Reviewed |
| Last updated: |
06. 11. 2013 |
