Paper Info
Title
Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking
Abstract
In this paper, a method of motion planning and trajectory optimization is proposed to decrease energy consumption and improve speed performance for bipedal walking. For a long time, researches of bipedal walking have been concentrated on single supporting phase, in which dynamic model such as inverted pendulum model (IPM) is used. Originally, in this paper the trajectory of the center of mass (COM) is generated separately: trajectory of COM is first planned in double supporting phase (DSP), then the trajectory of COM in single supporting phase (SSP) is generated consequently based on inverted pendulum model (IPM). Trajectory of COM in DSP, derivating SSP trajectory is optimized to achieve minimum energy consumption and better speed performance for bipedal walking. The evaluation of energy consumption and speed is illustrated as total cost of transporting (TCOT). To optimize a three dimensional space trajectory in DSP, modified genetic algorithm (GA), squad-unit generic algorithm is conducted. In this method, the unit for evolution contains three members sharing the same fitness value and has the advantage over conventional that can only represent one-dimensional input variable. The effect of optimization of three dimensional trajectories is verified by simulation.
Year
DOI
Venue
2018
10.1109/ROBIO.2018.8664851
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Keywords
Field
DocType
Legged locomotion,Trajectory,Genetic algorithms,Optimization,Foot,Energy consumption
Motion planning,Three-dimensional space,Inverted pendulum,Trajectory optimization,Control theory,Efficient energy use,Engineering,Energy consumption,Trajectory,Genetic algorithm
Conference
ISBN
Citations 
PageRank 
978-1-7281-0377-8
0
0.34
References 
Authors
0
7
Name
Order
Citations
PageRank
Runming Zhang100.34
Huaxin Liu256.38
Fei Meng312.38
Ru Kang400.68
Zhangguo Yu54619.12
Aiguo Ming617741.26
Qiang Huang792.38