Author(s):
Lima, José 
; Pereira, Ana I. ; Costa, Paulo ; Gonçalves, José
Date: 2013
Persistent ID: http://hdl.handle.net/10198/9870
Origin: Biblioteca Digital do IPB
Subject(s): Robotics; Optimization
Document details
Optimization of a humanoid robot gait: multilocal optimization approach
Description
The humanoid robot gait planning presents a large number of unknown parameters that should be found to make the humanoid robot to walk. There are several approaches to achieve the gait but an accurate simulation can be used to compute it. A stable joint model of a humanoid robot is used in simulation to optimize the gait parameters. The optimization is based on the stretched simulated annealing with the multilocal algorithm approach. Final results prove the benefits of the presented optimization algorithm.
The humanoid robot gait planning presents a large number of unknown parameters that should be found to make the humanoid robot to walk. There are several approaches to achieve the gait but an accurate simulation can be used to compute it. A stable joint model of a humanoid robot is used in simulation to optimize the gait parameters. The optimization is based on the stretched simulated annealing with the multilocal algorithm approach. Final results prove the benefits of the presented optimization algorithm.
Document Type
Article
Language English
Language English
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