Book Chapter or Conference Paper Title
On evolving a dynamic bipedal walk using Partial Fourier Series
Faculty / School
Faculty of Computer Sciences (FCS)
Department of Computer Science
Was this content written or created while at IBA?
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)
11-14 December 2012
Institute of Electrical and Electronics Engineers (IEEE)
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.
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