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

^*此作品的通讯作者

Shanghai Jiao Tong University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

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

源语言	英语
主期刊名	2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005
出版商	IEEE Computer Society
页	882-887
页数	6
ISBN（电子版）	0780390911
ISBN（印刷版）	078039092X, 9780780390928
DOI	https://doi.org/10.1109/ICMLC.2005.1527068
出版状态	已出版 - 2005
已对外发布	是
活动	International Conference on Machine Learning and Cybernetics, ICMLC 2005 - Guangzhou, 中国期限: 18 8月 2005 → 21 8月 2005

丛书

姓名	2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005
卷	2

会议

会议	International Conference on Machine Learning and Cybernetics, ICMLC 2005
国家/地区	中国
市	Guangzhou
时期	18/08/05 → 21/08/05

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ICMLC.2005.1527068

其它文件与链接

链接到 Scopus 的出版物

引用此

@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. 在 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005. 2005 International Conference on Machine Learning and Cybernetics, ICMLC 2005, 卷 2, IEEE Computer Society, 页码 882-887, International Conference on Machine Learning and Cybernetics, ICMLC 2005, Guangzhou, 中国, 18/08/05. https://doi.org/10.1109/ICMLC.2005.1527068

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

摘要

丛书

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此