Improved joint control using a genetic algorithm for a humanoid robot
Roberts, Jonathan, Kee, Damien, & Wyeth, Gordon (2003) Improved joint control using a genetic algorithm for a humanoid robot. In Roberts, Jonathan & Wyeth, Gordon (Eds.) Proceedings of the 2003 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc, Brisbane, Queensland.
This paper describes experiments conducted in order to simultaneously tune 15 joints of a humanoid robot. Two Genetic Algorithm (GA) based tuning methods were developed and compared against a hand-tuned solution. The system was tuned in order to minimise tracking error while at the same time achieve smooth joint motion. Joint smoothness is crucial for the accurate calculation of online ZMP estimation, a prerequisite for a closedloop dynamically stable humanoid walking gait. Results in both simulation and on a real robot are presented, demonstrating the superior smoothness performance of the GA based methods.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2003 [please consult the authors]|
|Deposited On:||23 Jun 2010 09:11|
|Last Modified:||11 Aug 2011 03:06|
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