Optimal trajectory generation for a prismatic joint biped robot using genetic algorithms

Robotics and Autonomous Systems

Volumn 38, Issue 2, 2002, Pages 119-128

  Capi, G ^a   Kaneko, S ^a   Mitobe, K ^a   Barolli, L ^a   Nasu, Y ^a  

^a YAMAGATA UNIVERSITY   (Japan)

Author keywords

Biped robots; Genetic algorithm; Minimum energy; ZMP

Indexed keywords

ENERGY UTILIZATION; GENETIC ALGORITHMS; OPTIMIZATION; TORQUE; TRAJECTORIES;

BIPED ROBOTS; TRAJECTORY PLANNING METHODS;

ROBOTS;

EID: 0037186475     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0921-8890(01)00177-4     Document Type: Article

References (8)

1. Control of walking robots based on manipulation of the zero moment point
2. Generation of energy optimal complete gait cycles for biped robots
3. Energy analysis during biped walking
4. A variational approach to the optimization of gait for a bipedal robot
5. Formulation and control of optimal trajectory in human multijoint arm movement