Optimal Design for a Humanoid Robot based on Passive Dynamic Walkers and Genetic Algorithms

被引：0

作者：

Nunez Cruz, Rafael Stanley ^{[1
]}

Ibarra Zannatha, Juan Manuel ^{[1
]}

机构：

[1] CINVESTAV, Dept Automat Control, Mexico City 07360, DF, Mexico

来源：

2015 12TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE 2015) | 2015年

关键词：

Optimal design; Passive Dynamic Walkers; Genetic Algorithms; optimal feedback control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present the method used to design a humanoid robot called Johnny by optimizing the energy consumption of walking. The mechanical model is inspired on passive dynamic walkers. We used a basic genetic algorithm to find, at the same time, the optimal mechanical parameters, as well as the optimal walking trajectories and the optimal gains, for the feedback control used in the current prototype.

引用

页数：6

共 20 条

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