Galloping trajectory optimization and control for quadruped robot using genetic algorithm
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chae, Giju | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2022-10-07T10:46:21Z | - |
dc.date.available | 2022-10-07T10:46:21Z | - |
dc.date.created | 2022-09-16 | - |
dc.date.issued | 2007-12 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/172200 | - |
dc.description.abstract | This paper proposes an optimal galloping trajectory, which costs low energy and guarantees the stability of the quadruped robot. In the realization of fast galloping, the trajectory design is important. As a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of animal galloping motion, does not guarantee stability and minimal energy consumption. We propose optimization based on energy and stability using a genetic algorithm, which provides a robust and global solution to a multi-body, highly nonlinear dynamic system. To evaluate and verify the effectiveness of the proposed trajectory, computer simulations were carried out. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE Computer Society | - |
dc.title | Galloping trajectory optimization and control for quadruped robot using genetic algorithm | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1109/ROBIO.2007.4522329 | - |
dc.identifier.scopusid | 2-s2.0-49249086607 | - |
dc.identifier.bibliographicCitation | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, pp.1166 - 1171 | - |
dc.relation.isPartOf | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO | - |
dc.citation.title | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO | - |
dc.citation.startPage | 1166 | - |
dc.citation.endPage | 1171 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Algorithms | - |
dc.subject.keywordPlus | Automation | - |
dc.subject.keywordPlus | Biomimetics | - |
dc.subject.keywordPlus | Chlorine compounds | - |
dc.subject.keywordPlus | Computational methods | - |
dc.subject.keywordPlus | Computer simulation | - |
dc.subject.keywordPlus | Diesel engines | - |
dc.subject.keywordPlus | Dynamical systems | - |
dc.subject.keywordPlus | Electric load forecasting | - |
dc.subject.keywordPlus | Energy policy | - |
dc.subject.keywordPlus | Genetic algorithms | - |
dc.subject.keywordPlus | Genetic engineering | - |
dc.subject.keywordPlus | Global optimization | - |
dc.subject.keywordPlus | Multipurpose robots | - |
dc.subject.keywordPlus | Optimization | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Schrodinger equation | - |
dc.subject.keywordPlus | System stability | - |
dc.subject.keywordPlus | Computer simulations | - |
dc.subject.keywordPlus | Cubic polynomials | - |
dc.subject.keywordPlus | Elliptic trajectory | - |
dc.subject.keywordPlus | Gallop | - |
dc.subject.keywordPlus | Genetic algorithm | - |
dc.subject.keywordPlus | Global solutions | - |
dc.subject.keywordPlus | Highly nonlinear | - |
dc.subject.keywordPlus | International conferences | - |
dc.subject.keywordPlus | Low energies | - |
dc.subject.keywordPlus | Minimal energy | - |
dc.subject.keywordPlus | Multi-body | - |
dc.subject.keywordPlus | Quadruped robot | - |
dc.subject.keywordPlus | Quadruped Robots | - |
dc.subject.keywordPlus | Trajectory designs | - |
dc.subject.keywordPlus | Trajectory optimization | - |
dc.subject.keywordPlus | Trajectories | - |
dc.subject.keywordAuthor | Cubic polynomials | - |
dc.subject.keywordAuthor | Elliptic trajectory | - |
dc.subject.keywordAuthor | Gallop | - |
dc.subject.keywordAuthor | Genetic algorithm | - |
dc.subject.keywordAuthor | Quadruped robot | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/4522329 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.