Author(s):
Pereira, Ana I. 
; Lima, José ; Costa, Paulo
Date: 2013
Persistent ID: http://hdl.handle.net/10198/9875
Origin: Biblioteca Digital do IPB
Subject(s): Humanoid gait; Optimization
Document details
Humanoid robot gait optimization: simulated annealing and genetic algorithm com...
Description
There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The presented paper addresses a comparison between two optimization methods, the Stretched simulated annealing (SSA) and the Genetic Algorithm (GA), that runs in an accurate and stable simulation model. Final results show the comparative study and proves the gait optimization technique.
There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The presented paper addresses a comparison between two optimization methods, the Stretched simulated annealing (SSA) and the Genetic Algorithm (GA), that runs in an accurate and stable simulation model. Final results show the comparative study and proves the gait optimization technique.
Document Type
Article
Language English
Language English
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