On evolving a dynamic bipedal walk using Partial Fourier Series
Faculty / School
Faculty of Computer Sciences (FCS)
Department
Department of Computer Science
Was this content written or created while at IBA?
Yes
Document Type
Conference Paper
Publication Date
12-1-2012
Conference Name
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference Location
Guangzhou, China
Conference Dates
11-14 December 2012
ISBN/ISSN
84876481003 (Scopus)
First Page
8
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Keywords
RoboCup Soccer 3D Simulation competition, Nao humanoid robot, Gyroscope sensor, Walk stability, Turn walk, Forward walk, EA, Evolutionary algorithm, Transverse plane, Sagittal plane, Bipedal gait, Partial Fourier series, Bipedal walk dynamics
Abstract / Description
The paper presents a Partial Fourier Series (PFS) based bipedal gait in sagittal and transverse planes. The parameters of the Fourier series are optimized through Evolutionary Algorithms (EA). In addition to evolving the two walks (forward and turn) separately, the paper demonstrates how the combination of the two enables a dynamic and adjustable walk. The stability of the walk is ensured through an effective use of the built-in gyroscope sensor. The evolved walk has been tested on the simulated version of the humanoid Nao robot and is being used within the RoboCup Soccer 3D Simulation competition.
DOI
https://doi.org/10.1109/ROBIO.2012.6490935
Recommended Citation
Haider, S., Abidi, S. R., & Williams, M. A. (2012). On evolving a dynamic bipedal walk using Partial Fourier Series., 8. https://doi.org/10.1109/ROBIO.2012.6490935
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