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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

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