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Published in:
2018 | OriginalPaper | Chapter
Generation of Walking Motions for the Biped Ascending Slopes Based on Genetic Algorithm
Authors : Lulu Gong, Ruowei Zhao, Jinye Liang, Lei Li, Ming Zhu, Ying Xu, Xiaolu Tai, Xinchen Qiu, Haiyan He, Fangfei Guo, Jindong Yao, Zhihong Chen, Chao Zhang
Published in: Advances in Swarm Intelligence
Publisher: Springer International Publishing
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Abstract
This study aims to generate the optimal trajectories for the biped walking up sloping surfaces after ensuring the minimum energy consumption by using genetic algorithm (GA) and motion/force control scheme. During optimization, the step length, the maximum height of swing foot and walking speed were optimized with the seven-link biped model. The impactless bipedal walking was investigated for walking on the ground level and slopes with different gradients, respectively. The results showed that the biped consumed more energy when the optimal walking speed increased for walking on the same slopes. There were no great differences in optimal step length when the biped changed the walking speed. The results showed that the proposed approach is able to generate optimal gaits for the biped simply by changing boundary conditions with GA.