Humanoid robot gait optimization: simulated annealing and genetic algorithm comparative study

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

http://hdl.handle.net/10198/9875

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Authors

Pereira, Ana I.

Lima, José

Costa, Paulo Gomes da

Abstract(s)

There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The presented paper addresses a comparison between two optimization methods, the Stretched simulated annealing (SSA) and the Genetic Algorithm (GA), that runs in an accurate and stable simulation model. Final results show the comparative study and proves the gait optimization technique.

Keywords

Humanoid gait Optimization

URI

http://hdl.handle.net/10198/9875

Citation

Pereira, Ana I.; Lima, José; Costa, Paulo (2013). Humanoid robot gait optimization: simulated annealing and genetic algorithm comparative study. In ICNAAM 2013: 11th International Conference on Numerical Analysis and Applied Mathematics. Melville: American Institute of Physics. p. 598-601. ISBN 978-0-7354-1185-2