TY - GEN
T1 - Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking
AU - Zhang, Runming
AU - Liu, Huaxin
AU - Meng, Fei
AU - Kang, Ru
AU - Yu, Zhangguo
AU - Ming, Aiguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In this paper, a method of motion planning and trajectory optimization is proposed to decrease energy consumption and improve speed performance for bipedal walking. For a long time, researches of bipedal walking have been concentrated on single supporting phase, in which dynamic model such as inverted pendulum model (IPM) is used. Originally, in this paper the trajectory of the center of mass (COM) is generated separately: trajectory of COM is first planned in double supporting phase (DSP), then the trajectory of COM in single supporting phase (SSP) is generated consequently based on inverted pendulum model (IPM). Trajectory of COM in DSP, derivating SSP trajectory is optimized to achieve minimum energy consumption and better speed performance for bipedal walking. The evaluation of energy consumption and speed is illustrated as total cost of transporting (TCOT). To optimize a three dimensional space trajectory in DSP, modified genetic algorithm (GA), squad-unit generic algorithm is conducted. In this method, the unit for evolution contains three members sharing the same fitness value and has the advantage over conventional that can only represent one-dimensional input variable. The effect of optimization of three dimensional trajectories is verified by simulation.
AB - In this paper, a method of motion planning and trajectory optimization is proposed to decrease energy consumption and improve speed performance for bipedal walking. For a long time, researches of bipedal walking have been concentrated on single supporting phase, in which dynamic model such as inverted pendulum model (IPM) is used. Originally, in this paper the trajectory of the center of mass (COM) is generated separately: trajectory of COM is first planned in double supporting phase (DSP), then the trajectory of COM in single supporting phase (SSP) is generated consequently based on inverted pendulum model (IPM). Trajectory of COM in DSP, derivating SSP trajectory is optimized to achieve minimum energy consumption and better speed performance for bipedal walking. The evaluation of energy consumption and speed is illustrated as total cost of transporting (TCOT). To optimize a three dimensional space trajectory in DSP, modified genetic algorithm (GA), squad-unit generic algorithm is conducted. In this method, the unit for evolution contains three members sharing the same fitness value and has the advantage over conventional that can only represent one-dimensional input variable. The effect of optimization of three dimensional trajectories is verified by simulation.
UR - http://www.scopus.com/inward/record.url?scp=85064135301&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2018.8664851
DO - 10.1109/ROBIO.2018.8664851
M3 - Conference contribution
AN - SCOPUS:85064135301
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 661
EP - 667
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Y2 - 12 December 2018 through 15 December 2018
ER -
