Stable Modifiable Walking Pattern Generator with Arm Swing Motion Using Evolutionary Optimized Central Pattern Generator

Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 274)

Abstract

In this paper, a stable modifiable walking pattern generator (MWPG) is proposed by a employing arm swing motion. The arm swing motion is generated by a central pattern generator (CPG) which is optimized by a constraint evolutionary algorithm. In this scheme, the MWPG generates a position trajectory of center of mass (COM) of humanoid robot and the CPG generates the arm swing motion. A sensory feedback in the CPG is designed, which uses a inertial measurement unit (IMU) signal. For the optimization of the CPG parameters, a two-phase evolutionary programming (TPEP) is employed. The effectiveness of the proposed scheme is demonstrated by simulations using a Webots dynamic simulator for a small sized humanoid robot, HSR-IX, developed in the Robot Intelligence Technology (RIT) Lab, KAIST.

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Department of Electrical EngineeringKAISTDaejeonRepublic of Korea

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