유전자 알고리즘을 이용한 이족 보행로봇의 계단 보행
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 전권수 | - |
dc.contributor.author | 권오흥 | - |
dc.contributor.author | 박종현 | - |
dc.date.accessioned | 2022-10-07T11:55:54Z | - |
dc.date.available | 2022-10-07T11:55:54Z | - |
dc.date.created | 2022-09-19 | - |
dc.date.issued | 2006-04 | - |
dc.identifier.issn | 1225-9071 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/172474 | - |
dc.description.abstract | In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.publisher | 한국정밀공학회 | - |
dc.title | 유전자 알고리즘을 이용한 이족 보행로봇의 계단 보행 | - |
dc.title.alternative | Trajectory Optimization for Biped robots Walking Up-and-Down Stairs Based on genetic Algorithms | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 박종현 | - |
dc.identifier.bibliographicCitation | 한국정밀공학회지, v.23, no.4, pp.75 - 82 | - |
dc.relation.isPartOf | 한국정밀공학회지 | - |
dc.citation.title | 한국정밀공학회지 | - |
dc.citation.volume | 23 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 75 | - |
dc.citation.endPage | 82 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001002857 | - |
dc.description.journalClass | 2 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Biped Robot | - |
dc.subject.keywordAuthor | 이족보행로봇 | - |
dc.subject.keywordAuthor | Genetic Algorithm | - |
dc.subject.keywordAuthor | 유전자 알고리즘 | - |
dc.subject.keywordAuthor | Walking Up-and-Down Stairs | - |
dc.subject.keywordAuthor | 계단보행 | - |
dc.subject.keywordAuthor | Trajectory | - |
dc.subject.keywordAuthor | 보행 궤적 | - |
dc.subject.keywordAuthor | Optimization | - |
dc.subject.keywordAuthor | 최적화 | - |
dc.identifier.url | https://www.dbpia.co.kr/pdf/pdfView.do?nodeId=NODE00854123&googleIPSandBox=false&mark=0&useDate=&ipRange=false&accessgl=Y&language=ko_KR&hasTopBanner=true | - |
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.