The design and implementation of particle swarm optimization (PSO) gait learning method for adult-sized humanoid robots is proposed in this paper. In order to reduce the motor damage and let train motions more convenient, a robotics simulator system for humanoid robots is designed. This robotics simulator system is established by an open source software-Open Dynamics Engine (ODE). The model of David developed by aiRobots laboratory is a combination of rigid bodies and joints. The humanoid robot is trained on the robotics simulator system with PSO method, which chooses the trajectory of robot's center of mass as the fitness value to learn faster and stable gait automatically. The results of the experiment show that the motions which play on the robotics simulator system are very similar to the real motions, so it can be utilized as the motion training platform. The result of the PSO gait learning method has great performance on the robotics simulator system. The humanoid robot learns gait pattern from marking time to moving center of mass and swing its legs. Finally, this gait let the real humanoid robot walk forward at 14.5 cm/s.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Development of Humanoid Robot Simulator for Gait Learning by Using Particle Swarm Optimization


    Contributors:


    Publication date :

    2013-10-01


    Size :

    1832553 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Searching CPG parameters for humanoid gait using Particle Swarm Optimization and Genetic Algorithm

    de Paiva, Rafael Cortes / Romariz, Alexandre Ricardo Soares / Borges, Geovany Araujo | IEEE | 2013


    Humanoid robot gait imitation

    Hwang, Kao-Shing / Lin, Jin-Ling / Huang, Tsung-Chuan et al. | IEEE | 2014


    Humanoid Robot Gait on Sloping Floors Using Reinforcement Learning

    Silva, Isaac J. / Perico, Danilo H. / Homem, Thiago P. D. et al. | Springer Verlag | 2016


    Gait control and optimization of humanoid soccer robot

    Liu, Zhenxin / Tan, Yingzi | IEEE | 2019


    Emotional gait generation for a humanoid robot

    Xie, L. / Wang, Z. L. / Wang, W. et al. | British Library Online Contents | 2010