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

研究成果: Conference contribution

11 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
頁面2683-2688
頁數6
DOIs
出版狀態Published - 2013 十二月 1
事件2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
持續時間: 2013 十月 132013 十月 16

出版系列

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

Other

Other2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
國家United Kingdom
城市Manchester
期間13-10-1313-10-16

All Science Journal Classification (ASJC) codes

  • Human-Computer Interaction

指紋 深入研究「Development of humanoid robot simulator for gait learning by using particle swarm optimization」主題。共同形成了獨特的指紋。

  • 引用此

    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. 於 Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 (頁 2683-2688). [6722211] (Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013). https://doi.org/10.1109/SMC.2013.457