Paper Title :Optimal Trajectory Planning of a Humanoid Robot with Torso Modifications
Author :Nima Sina, Mohammad Dayyani, Milad Taghizadeh
Article Citation :Nima Sina ,Mohammad Dayyani ,Milad Taghizadeh ,
(2017 ) " Optimal Trajectory Planning of a Humanoid Robot with Torso Modifications " ,
International Journal of Mechanical and Production Engineering (IJMPE) ,
pp. 93-97,
Volume-5,Issue-7
Abstract : In this article, by mathematical simulation of a seven linked biped robot and regarding zero moment point criterion,
several effective walking parameters are optimized to maintain the stability of the robot. In addition, torso angle changes with
respect to the time to adjust the Zero Moment Position (ZMP) of the robot. Particle Swarm Optimization (PSO) is used to
generate optimal parameters of the robot. Trajectory of links are generated in the offline mode. The paper focuses on
optimization of fourteen walking parameters using P.S.O. and the significant effect of torso angle in adjusting the ZMP. It can
be seen that this method is very effective in generating stable walk.
Index Terms- Humanoid robot, Trajectory, ZMP, Walking, Particle Swarm Optimization
Type : Research paper
Published : Volume-5,Issue-7
DOIONLINE NO - IJMPE-IRAJ-DOIONLINE-8764
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Copyright: © Institute of Research and Journals
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Published on 2017-09-11 |
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