Name
Abstract | ||
|---|---|---|
This paper describes a control method for stable walking of a low-cost humanoid in which a two-stage genetic algorithm is applied to find energy-efficient walking based on the inverted pendulum model and straight knee posture. The first stage is to achieve stable walking and the second to find energy-efficient walking. The simulation results are then applied to a real robot, which realizes stable walking with a smooth motion and low energy consumption. From these results, it is confirmed that this control system is valid for highly energy-efficient biped walking. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1163/156855303322395208 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
low-cost humanoid,straight knee posture,inverted pendulum model,genetic algorithm | Inverted pendulum,Low energy,Control theory,Simulation,Control engineering,Engineering,Control system,Robot,Genetic algorithm | Journal |
Volume | Issue | ISSN |
17 | 8 | 0169-1864 |
Citations | PageRank | References |
1 | 0.36 | 4 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fuminori Yamasaki | 1 | 53 | 7.64 |
| Ken Endo | 2 | 21 | 2.57 |
| Minoru Asada | 3 | 3147 | 561.84 |
| Hiroaki Kitano | 4 | 3515 | 539.37 |