Optimization of a humanoid robot gait: multilocal optimization approach

Lima, José; Pereira, Ana I.; Costa, Paulo Gomes da; Gonçalves,  José

http://hdl.handle.net/10198/9870

Use this identifier to reference this record.

Name:	Description:	Size:	Format:
Artigo_IO2013.pdf		1.72 MB	Adobe PDF	Download

Send Feedback

Authors

Lima, José

Pereira, Ana I.

Costa, Paulo Gomes da

Gonçalves, José

Abstract(s)

The humanoid robot gait planning presents a large number of unknown parameters that should be found to make the humanoid robot to walk. There are several approaches to achieve the gait but an accurate simulation can be used to compute it. A stable joint model of a humanoid robot is used in simulation to optimize the gait parameters. The optimization is based on the stretched simulated annealing with the multilocal algorithm approach. Final results prove the benefits of the presented optimization algorithm.

Keywords

Robotics Optimization

URI

http://hdl.handle.net/10198/9870

Citation

Lima, José; Pereira, Ana I.; Costa, Paulo; Gonçalves, José (2013). Optimization of a humanoid robot gait: multilocal optimization approach. In IO 2013 | XVI Congresso da Associação Portuguesa de Investigação Operacional. Bragança