Control of stepping downstairs for humanoid robot based on dynamic multi-objective optimization

Ke, Wende1; Bai, Yan1; Li, Huazhong2; Chen, Ke3; Yuan, Quande4

2020-09-14

10.1002/cpe.5999

CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE   影响因子和分区

1532-0626

1532-0634

The dynamic multi-objective optimization has important applications in many fields, especially for the multi-issues about trading-off problems. Herein the dynamic multi-objective optimization problem is applied in the stepping downstairs motions of humanoid robot in which three sub-optimization problems are proposed. First, the motion analysis of the robot's stepping downstairs motion is processed and the dynamic multi-objective optimization algorithm is introduced as well. The optimization algorithm is changed by the mutation mode of the traditional genetic algorithm. Second, the motion analysis of the robot's stepping downstairs motion is carried out. Finally, the walking speed function, walking stability function, and electrode cost function are obtained. The effects were validated through simulating experiments.

biped humanoid robot multi-objective optimization walking

SCI ; EI

英语

第一

Basic research (free exploration) project of Shenzhen Science and Innovation Commission[201803023000889] ; Basic research (T01) project of Shenzhen Science and Innovation Commission[JCYJ20180307124010740] ; Natural Science Foundation of Guangdong Province[2016A030307028][2018A030307032] ; The science and technology projects of Jilin Province Department of Education[CSKT2018ZX-055][JJKH20191258KJ][JJKH20191262KJ]

Computer Science

Computer Science, Software Engineering ; Computer Science, Theory & Methods

WOS:000568803900001

WILEY

20203809200575

Genetic algorithms ; Walking aids ; Cost functions ; Anthropomorphic robots ; Motion analysis

Rehabilitation Engineering and Assistive Technology:461.5 ; Biomedical Equipment, General:462.1 ; Data Processing and Image Processing:723.2 ; Robotics:731.5 ; Optimization Techniques:921.5

COMPUTER SCIENCE

Web of Science

1.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen, Peoples R China
2.Shenzhen Inst Informat Technol, Sch Software, Shenzhen, Peoples R China
3.Guangdong Univ Petrochem Technol, Sch Comp Sci, Maoming, Peoples R China
4.Changchun Inst Technol, Sch Elect & Informat Engn, Changchun, Peoples R China

Ke, Wende,Bai, Yan,Li, Huazhong,et al. Control of stepping downstairs for humanoid robot based on dynamic multi-objective optimization[J]. CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE,2020,33(5).

Ke, Wende,Bai, Yan,Li, Huazhong,Chen, Ke,&Yuan, Quande.(2020).Control of stepping downstairs for humanoid robot based on dynamic multi-objective optimization.CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE,33(5).

Ke, Wende,et al."Control of stepping downstairs for humanoid robot based on dynamic multi-objective optimization".CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE 33.5(2020).