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JRM Vol.9 No.6 pp. 496-502
doi: 10.20965/jrm.1997.p0496
(1997)

Paper:

Natural Motion Generation of Biped Locomotion Robot using Hierarchical Evolutionary Algorithm in the Various Environments

Takemasa Arakawa and Toshio Fukuda

Department of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan

Received:
November 25, 1997
Accepted:
November 28, 1997
Published:
December 20, 1997
Keywords:
Evolutionary algorithm, Motion generation, Biped locomotion robot
Abstract

The purpose of this research is to generate natural motion in a biped locomotion robot, like a human walking in various environments. In this paper, we report on biped locomotion robots. We apply a hierarchical evolutionary algorithm in order to generate the trajectory of a biped locomotion robot through energy optimization, and attempt to generate a more natural motion by considering the dynamic effect. The hierarchical evolutionary algorithm consists of two layers: one is the GA layer which minimizes the total energy of all the actuators, and the other is the EP layer which optimizes the interpolated configuration of the biped locomotion robot. Then we formulate a trajectory generation problem as an energy minimization problem and we apply the hierarchical evolutionary algorithm. Furthermore, we build a trial biped locomotion robot which has 13 joints and is made of aluminum. Finally, we confirm that the calculated natural motion trajectory can be applied successfully to practical biped locomotion.

Cite this article as:
Takemasa Arakawa and Toshio Fukuda, “Natural Motion Generation of Biped Locomotion Robot using Hierarchical Evolutionary Algorithm in the Various Environments,” J. Robot. Mechatron., Vol.9, No.6, pp. 496-502, 1997.
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