Abstract
This paper presents an Genetic Algorithm(GA) for the design of walking patterns of a 3-DOF biped robot formulated as a system with impulse effects. The GA optimizes the coefficients of a polynomialwhich represents the desired behavior of the walking which is included into the dynamics of the biped robot to obtain periodic motions while fulfills a minimal energy consumption over a complete walking cycle assumed as single support and instantaneous double support phases. Optimization results are presented showing walking patterns with low energy consumption and periodic motions.
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Cardenas-Maciel, S.L., Castillo, O., Aguilar, L.T., Rodríguez-Díaz, A. (2009). Genetic Optimization for the Design of Walking Patterns of a Biped Robot. In: Castillo, O., Pedrycz, W., Kacprzyk, J. (eds) Evolutionary Design of Intelligent Systems in Modeling, Simulation and Control. Studies in Computational Intelligence, vol 257. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04514-1_15
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DOI: https://doi.org/10.1007/978-3-642-04514-1_15
Publisher Name: Springer, Berlin, Heidelberg
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