Abstract
Dynamic biped walking is a difficult control problem. The design problem involves the design of the controller as well as the gait. In this paper, the design of the controller and the gait is formulated as a parameter search problem and a genetic algorithm is applied to help the design. Designs to achieve different goals, such as being able to walk on an inclined surface, walk at a high speed or with a specified step size have been evolved with the use of the genetic algorithm. Simulation results show that the genetic algorithm (GA) is capable of finding good solutions.
| Original language | English |
|---|---|
| Pages (from-to) | 1315-1320 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 2 |
| Publication status | Published - 1995 |
| Event | Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) - Vancouver, BC, Can Duration: 1995 Oct 22 → 1995 Oct 25 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Hardware and Architecture