Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

Chayooth Theeravithayangkura; Tomohito Takubo; Kenichi Ohara; Yasushi Mae; Tatsuo Arai

doi:10.1109/ICMA.2011.5985647

Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

Chayooth Theeravithayangkura^*
, Tomohito Takubo
, Kenichi Ohara
, Yasushi Mae
, Tatsuo Arai

^*Corresponding author for this work

The University of Osaka

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	148-153
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2011.5985647
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China Duration: 7 Aug 2011 → 10 Aug 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Conference

Conference	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Country/Territory	China
City	Beijing
Period	7/08/11 → 10/08/11

Access to Document

10.1109/ICMA.2011.5985647

Cite this

Theeravithayangkura, C., Takubo, T., Ohara, K., Mae, Y., & Arai, T. (2011). Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 148-153). Article 5985647 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5985647

@inproceedings{435a8cf04fd04987ae20b79ae360e18e,

title = "Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms",

abstract = "New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.",

author = "Chayooth Theeravithayangkura and Tomohito Takubo and Kenichi Ohara and Yasushi Mae and Tatsuo Arai",

year = "2011",

doi = "10.1109/ICMA.2011.5985647",

language = "English",

isbn = "9781424481149",

series = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

pages = "148--153",

booktitle = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

note = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 ; Conference date: 07-08-2011 Through 10-08-2011",

}

Theeravithayangkura, C, Takubo, T, Ohara, K, Mae, Y & Arai, T 2011, Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985647, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp. 148-153, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, China, 7/08/11. https://doi.org/10.1109/ICMA.2011.5985647

Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms. / Theeravithayangkura, Chayooth; Takubo, Tomohito; Ohara, Kenichi et al.
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 148-153 5985647 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

AU - Theeravithayangkura, Chayooth

AU - Takubo, Tomohito

AU - Ohara, Kenichi

AU - Mae, Yasushi

AU - Arai, Tatsuo

PY - 2011

Y1 - 2011

N2 - New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.

AB - New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.

UR - https://www.scopus.com/pages/publications/81055149667

U2 - 10.1109/ICMA.2011.5985647

DO - 10.1109/ICMA.2011.5985647

M3 - Conference contribution

AN - SCOPUS:81055149667

SN - 9781424481149

T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

SP - 148

EP - 153

BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Y2 - 7 August 2011 through 10 August 2011

ER -

Theeravithayangkura C, Takubo T, Ohara K, Mae Y, Arai T. Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 148-153. 5985647. (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). doi: 10.1109/ICMA.2011.5985647

Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this