Biblioteca Digital do Instituto Politécnico de Bragança   Instituto Politécnico de Bragança

Biblioteca Digital do IPB >
Escola Superior de Tecnologia e Gestão >
Electrotecnia >
DE - Artigos em Proceedings Não Indexados ao ISI/Scopus >

Please use this identifier to cite or link to this item:

Título: Humanoid robot gait planning resorting to an adaptive simulated annealing algorithm
Autor: Lima, José
Gonçalves, José
Costa, Paulo
Moreira, António Paulo
Palavras-chave: Humanoid
Issue Date: 2010
Citação: Lima, José; Gonçalves, José; Costa, Paulo; Moreira, António Paulo (2010) - Humanoid robot gait planning resorting to an adaptive simulated annealing algorithm. In 10th Conference on Autonomous Robot Systems and Competitions. Leiria.
Resumo: This paper addresses a new approach to optimize gait parameter sets using an Adaptive Simulated Annealing optimization algorithm. It presents the issue of reducing energy consumption with gait planning optimization. The developed realistic simulator, based on a real and commercial robot, emulates the mechanical and electrical aspects of the humanoid robot and reduces the software and prototyping production time. It also allows to develop and test different algorithms and optimization procedures. The developed simulator is used to optimize the energy consumption and the distance travelled by the robot in each step based on a Adaptive Simulated annealing optimization approach. Final results prove the benefits of the presented approach.
Appears in Collections:DE - Artigos em Proceedings Não Indexados ao ISI/Scopus

Files in This Item:

File Description SizeFormat
JLimaGoncPCostaAPMorRob2010.pdf478,96 kBAdobe PDFView/Open
Restrict Access. You can request a copy!
JLimaGoncPCostaAPMorRob2010 - resumo.pdf90,67 kBAdobe PDFView/Open

Please give feedback about this item
FacebookTwitterDeliciousLinkedInDiggGoogle BookmarksMySpace
Formato BibTex MendeleyEndnote Logotipo do DeGóis 

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.


© Instituto Politécnico de Bragança - Biblioteca Digital - Feedback - Statistics
Promotores do RCAAP   Financiadores do RCAAP

Fundação para a Ciência e a Tecnologia Universidade do Minho   Governo Português Ministério da Educação e Ciência PO Sociedade do Conhecimento (POSC) Portal oficial da União Europeia