Book Chapter or Conference Paper Title

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)

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.

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