Humanoid robot locomotion

X. U.Sheng Lei; Jing Pan; S. U. Jian-Bo

doi:10.1109/ICMLC.2005.1527068

Humanoid robot locomotion

X. U.Sheng Lei^*
, Jing Pan
, S. U. Jian-Bo

^*Corresponding author for this work

Shanghai Jiao Tong University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

The objective of this paper is to propose a locomotion control method for humanoid robot to realize stable walking, which consisting of optimal joint generation and feedback error compensation. Using energy consumption as criteria, the proposed method can generate a series of joint trajectory for different walking steps and speed. Furthermore, to improve system stability and adaptability, a fuzzy-GA is trained to compensate system errors. Based on sensor information, humanoid robot can get environment and inherent situation and use the proposed method to adjust joint trajectory. The effectiveness of the method is shown with a 28 DOF humanoid robot in ADAMS

Original language	English
Title of host publication	2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005
Publisher	IEEE Computer Society
Pages	882-887
Number of pages	6
ISBN (Electronic)	0780390911
ISBN (Print)	078039092X, 9780780390928
DOIs	https://doi.org/10.1109/ICMLC.2005.1527068
State	Published - 2005
Externally published	Yes
Event	International Conference on Machine Learning and Cybernetics, ICMLC 2005 - Guangzhou, China Duration: 18 Aug 2005 → 21 Aug 2005

Publication series

Name	2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005
Volume	2

Conference

Conference	International Conference on Machine Learning and Cybernetics, ICMLC 2005
Country/Territory	China
City	Guangzhou
Period	18/08/05 → 21/08/05

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Fuzzy control
Humanoid robot
Optimal trajectory

Access to Document

10.1109/ICMLC.2005.1527068

Cite this

@inproceedings{0d9b543d785241d2aabf56ec6f72a022,

title = "Humanoid robot locomotion",

abstract = "The objective of this paper is to propose a locomotion control method for humanoid robot to realize stable walking, which consisting of optimal joint generation and feedback error compensation. Using energy consumption as criteria, the proposed method can generate a series of joint trajectory for different walking steps and speed. Furthermore, to improve system stability and adaptability, a fuzzy-GA is trained to compensate system errors. Based on sensor information, humanoid robot can get environment and inherent situation and use the proposed method to adjust joint trajectory. The effectiveness of the method is shown with a 28 DOF humanoid robot in ADAMS",

keywords = "Fuzzy control, Humanoid robot, Optimal trajectory",

author = "Lei, \{X. U.Sheng\} and Jing Pan and Jian-Bo, \{S. U.\}",

year = "2005",

doi = "10.1109/ICMLC.2005.1527068",

language = "英语",

isbn = "078039092X",

series = "2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005",

publisher = "IEEE Computer Society",

pages = "882--887",

booktitle = "2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005",

address = "美国",

note = "International Conference on Machine Learning and Cybernetics, ICMLC 2005 ; Conference date: 18-08-2005 Through 21-08-2005",

}

Lei, XUS, Pan, J & Jian-Bo, SU 2005, Humanoid robot locomotion. in 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005. 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005, vol. 2, IEEE Computer Society, pp. 882-887, International Conference on Machine Learning and Cybernetics, ICMLC 2005, Guangzhou, China, 18/08/05. https://doi.org/10.1109/ICMLC.2005.1527068

Humanoid robot locomotion. / Lei, X. U.Sheng; Pan, Jing; Jian-Bo, S. U.
2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005. IEEE Computer Society, 2005. p. 882-887 (2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Humanoid robot locomotion

AU - Lei, X. U.Sheng

AU - Pan, Jing

AU - Jian-Bo, S. U.

PY - 2005

Y1 - 2005

N2 - The objective of this paper is to propose a locomotion control method for humanoid robot to realize stable walking, which consisting of optimal joint generation and feedback error compensation. Using energy consumption as criteria, the proposed method can generate a series of joint trajectory for different walking steps and speed. Furthermore, to improve system stability and adaptability, a fuzzy-GA is trained to compensate system errors. Based on sensor information, humanoid robot can get environment and inherent situation and use the proposed method to adjust joint trajectory. The effectiveness of the method is shown with a 28 DOF humanoid robot in ADAMS

AB - The objective of this paper is to propose a locomotion control method for humanoid robot to realize stable walking, which consisting of optimal joint generation and feedback error compensation. Using energy consumption as criteria, the proposed method can generate a series of joint trajectory for different walking steps and speed. Furthermore, to improve system stability and adaptability, a fuzzy-GA is trained to compensate system errors. Based on sensor information, humanoid robot can get environment and inherent situation and use the proposed method to adjust joint trajectory. The effectiveness of the method is shown with a 28 DOF humanoid robot in ADAMS

KW - Fuzzy control

KW - Humanoid robot

KW - Optimal trajectory

UR - https://www.scopus.com/pages/publications/28444435194

U2 - 10.1109/ICMLC.2005.1527068

DO - 10.1109/ICMLC.2005.1527068

M3 - 会议稿件

AN - SCOPUS:28444435194

SN - 078039092X

SN - 9780780390928

T3 - 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005

SP - 882

EP - 887

BT - 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005

PB - IEEE Computer Society

T2 - International Conference on Machine Learning and Cybernetics, ICMLC 2005

Y2 - 18 August 2005 through 21 August 2005

ER -

Humanoid robot locomotion

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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