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Part of the book series: Studies in Computational Intelligence ((SCI,volume 257))

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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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© 2009 Springer-Verlag Berlin Heidelberg

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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

  • Print ISBN: 978-3-642-04513-4

  • Online ISBN: 978-3-642-04514-1

  • eBook Packages: EngineeringEngineering (R0)

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