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Proceedings Paper

Generation of initial stepping pattern of a biped robot with modular dynamic encoding algorithm for searches
Author(s): Taegyu Kim; Jong-Wook Kim
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Paper Abstract

In this paper, a modified version of dynamic encoding algorithm for searches (DEAS) is proposed and applied to generate walking patterns of a biped humanoid robot. For the controller of each joint motor to generate optimal trajectories, mDEAS is developed from the previous versions of exhaustive DEAS (eDEAS) and univariate DEAS (uDEAS). Modular DEAS (mDEAS) searches optimal coefficients of polynomials whose trajectories are assigned to joint motors. Since the number of the coefficients amounts up to 16, sharing search space and optimizing independently is expected to search efficiently. For validation of mDEAS, a simulation result about initial stepping is provided.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942D (9 January 2008); doi: 10.1117/12.784489
Show Author Affiliations
Taegyu Kim, Dong-A Univ. (South Korea)
Jong-Wook Kim, Dong-A Univ. (South Korea)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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