Humanoid gait optimization resorting to an improved simulation model

Detalhes bibliográficos
Autor(a) principal: Lima, José
Data de Publicação: 2013
Outros Autores: Gonçalves, José, Costa, Paulo Gomes da, Moreira, António Paulo G. M.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10198/8457
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 those robots is using simulation and optimization techniques. This paper addresses a new approach to optimize 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 modelSimulationModelingHumanoid robotsThe 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 those robots is using simulation and optimization techniques. This paper addresses a new approach to optimize 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.InTechBiblioteca Digital do IPBLima, JoséGonçalves, JoséCosta, Paulo Gomes daMoreira, António Paulo G. M.2013-06-12T08:34:41Z20132013-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10198/8457engLima, José; Gonçalves, José; Costa, Paulo; Moreira, António (2013). Humanoid gait optimization resorting to an improved simulation model. International Journal of Advanced Robotic Systems. ISSN 1729-8806. 101729-880610.5772/54766info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-21T10:20:40Zoai:bibliotecadigital.ipb.pt:10198/8457Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T22:59:54.406211Repositório 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
Lima, José
Simulation
Modeling
Humanoid robots
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 Lima, José
author_facet Lima, José
Gonçalves, José
Costa, Paulo Gomes da
Moreira, António Paulo G. M.
author_role author
author2 Gonçalves, José
Costa, Paulo Gomes da
Moreira, António Paulo G. M.
author2_role author
author
author
dc.contributor.none.fl_str_mv Biblioteca Digital do IPB
dc.contributor.author.fl_str_mv Lima, José
Gonçalves, José
Costa, Paulo Gomes da
Moreira, António Paulo G. M.
dc.subject.por.fl_str_mv Simulation
Modeling
Humanoid robots
topic Simulation
Modeling
Humanoid robots
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 those robots is using simulation and optimization techniques. This paper addresses a new approach to optimize 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 2013-06-12T08:34:41Z
2013
2013-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10198/8457
url http://hdl.handle.net/10198/8457
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Lima, José; Gonçalves, José; Costa, Paulo; Moreira, António (2013). Humanoid gait optimization resorting to an improved simulation model. International Journal of Advanced Robotic Systems. ISSN 1729-8806. 10
1729-8806
10.5772/54766
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv InTech
publisher.none.fl_str_mv InTech
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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