Humanoid Gait Optimization Resorting to an Improved Simulation Model

Detalhes bibliográficos
Autor(a) principal: José Lima
Data de Publicação: 2013
Outros Autores: José Alexandre Gonçalves, Paulo José Costa, António Paulo Moreira
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://repositorio.inesctec.pt/handle/123456789/5109
http://dx.doi.org/10.5772/54766
Resumo: The simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for these robots is using simulation and optimization techniques. This paper addresses a new approach to optimizing gait parameter sets using an adaptive simulated annealing optimization algorithm, combined with a new joint model that reduces its instability. The new model and the optimization are implemented in SimTwo (a developed physical robot simulator that is capable of simulating user defined robots in a three-dimensional space, since it includes a physical model based on rigid body dynamics) and results are shown that validate the approach.
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spelling Humanoid Gait Optimization Resorting to an Improved Simulation ModelThe simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for these robots is using simulation and optimization techniques. This paper addresses a new approach to optimizing gait parameter sets using an adaptive simulated annealing optimization algorithm, combined with a new joint model that reduces its instability. The new model and the optimization are implemented in SimTwo (a developed physical robot simulator that is capable of simulating user defined robots in a three-dimensional space, since it includes a physical model based on rigid body dynamics) and results are shown that validate the approach.2017-12-28T12:36:03Z2013-01-01T00:00:00Z2013info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://repositorio.inesctec.pt/handle/123456789/5109http://dx.doi.org/10.5772/54766engJosé LimaJosé Alexandre GonçalvesPaulo José CostaAntónio Paulo Moreirainfo:eu-repo/semantics/embargoedAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-05-15T10:20:38Zoai:repositorio.inesctec.pt:123456789/5109Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:53:25.540596Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Humanoid Gait Optimization Resorting to an Improved Simulation Model
title Humanoid Gait Optimization Resorting to an Improved Simulation Model
spellingShingle Humanoid Gait Optimization Resorting to an Improved Simulation Model
José Lima
title_short Humanoid Gait Optimization Resorting to an Improved Simulation Model
title_full Humanoid Gait Optimization Resorting to an Improved Simulation Model
title_fullStr Humanoid Gait Optimization Resorting to an Improved Simulation Model
title_full_unstemmed Humanoid Gait Optimization Resorting to an Improved Simulation Model
title_sort Humanoid Gait Optimization Resorting to an Improved Simulation Model
author José Lima
author_facet José Lima
José Alexandre Gonçalves
Paulo José Costa
António Paulo Moreira
author_role author
author2 José Alexandre Gonçalves
Paulo José Costa
António Paulo Moreira
author2_role author
author
author
dc.contributor.author.fl_str_mv José Lima
José Alexandre Gonçalves
Paulo José Costa
António Paulo Moreira
description The simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for these robots is using simulation and optimization techniques. This paper addresses a new approach to optimizing gait parameter sets using an adaptive simulated annealing optimization algorithm, combined with a new joint model that reduces its instability. The new model and the optimization are implemented in SimTwo (a developed physical robot simulator that is capable of simulating user defined robots in a three-dimensional space, since it includes a physical model based on rigid body dynamics) and results are shown that validate the approach.
publishDate 2013
dc.date.none.fl_str_mv 2013-01-01T00:00:00Z
2013
2017-12-28T12:36:03Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://repositorio.inesctec.pt/handle/123456789/5109
http://dx.doi.org/10.5772/54766
url http://repositorio.inesctec.pt/handle/123456789/5109
http://dx.doi.org/10.5772/54766
dc.language.iso.fl_str_mv eng
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