Stable Gait Optimization for Small-Sized Humanoid Robot Using Modified Differential Evolution Algorithm
Keywords:
Humanoids robot, gait optimization, modified differential evolution algorithm, particle swarm optimization, genetic algorithm, zero moment point, inverse kinematics, forward kinematicsAbstract
The design of humanoid robot gaits is to make the robot walk naturally and save consumed energy. Up to now it
is still a difficult problem since the current technology has not yet reached the biological objects that are
extremely complex in terms of structure and sophisticated in operation. The paper proposes a new method to
optimize the gait design for humanoid robots that allows stable walking with pre-set foot lifting magnitude.
Modified Differential Evolution algorithm is applied to optimize the gait parameters to help humanoid robot
walk steadily. The efficiency of the proposed method is compared with the GA and PSO algorithm. The
simulated and experimental results carried out on the small-sized humanoid robot (HUBOT-5) prove that the
proposed algorithm offers an efficient and stable gait for humanoid robots with accurate height lifting
magnitude.
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