Computer Science ›› 2016, Vol. 43 ›› Issue (6): 270-275.doi: 10.11896/j.issn.1002-137X.2016.06.053

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Running Gait Planning and Control for Humanoid Robot Based on Energy Efficiency Optimization

YANG Liang, FU Yu, FU Gen-ping and DENG Chun-jian   

  • Online:2018-12-01 Published:2018-12-01

Abstract: A novel parametric running gait optimization algorithm was proposed for solving the fatal problem of high energy consumption for humanoid robot,limiting the practical application of humanoid robot.After analyzing the impact of different gait parameters on horizontal and vertical stability,the gait planning problem is transformed to the multi-objective optimization problem,and the expressions of stability and energy consumption are obtained according to connective link model.In order to achieve the ideal running gait,a method based on opposite learning generic algorithm was proposed,which helps to reduce energy consumption and obtain good stability margin in pitching,rolling and yawing axis.In view of the problems of early maturing and slow convergence of traditional GA algorithm,an effective policy of initiating population based on domain knowledge was developed and the population was updated by generating opposite entity.To improve the trajectory tracking performance,an adaptive controller was designed and the stability proof was provided.The simulation results prove the validity of the method.

Key words: Humanoid robot,Gait planning,Opposition based learning,Generic algorithm,Multi-objective optimization

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