Development of humanoid robot simulator for gait learning by using particle swarm optimization

Ping Huan Kuo, Ya Fang Ho, Kai Fan Lee, Li Heng Tai, Tzuu-Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

The design and implementation of particle swarm optimization (PSO) gait learning method for adult-sized humanoid robots is proposed in this paper. In order to reduce the motor damage and let train motions more convenient, a robotics simulator system for humanoid robots is designed. This robotics simulator system is established by an open source software-Open Dynamics Engine (ODE). The model of David developed by aiRobots laboratory is a combination of rigid bodies and joints. The humanoid robot is trained on the robotics simulator system with PSO method, which chooses the trajectory of robot's center of mass as the fitness value to learn faster and stable gait automatically. The results of the experiment show that the motions which play on the robotics simulator system are very similar to the real motions, so it can be utilized as the motion training platform. The result of the PSO gait learning method has great performance on the robotics simulator system. The humanoid robot learns gait pattern from marking time to moving center of mass and swing its legs. Finally, this gait let the real humanoid robot walk forward at 14.5 cm/s.

Original languageEnglish
Title of host publicationProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Pages2683-2688
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
Duration: 2013 Oct 132013 Oct 16

Publication series

NameProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013

Other

Other2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
CountryUnited Kingdom
CityManchester
Period13-10-1313-10-16

All Science Journal Classification (ASJC) codes

  • Human-Computer Interaction

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  • Cite this

    Kuo, P. H., Ho, Y. F., Lee, K. F., Tai, L. H., & Li, T-H. S. (2013). Development of humanoid robot simulator for gait learning by using particle swarm optimization. In Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 (pp. 2683-2688). [6722211] (Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013). https://doi.org/10.1109/SMC.2013.457