Multi-parameter optimization for humanoid robot climbing stairs
- Resource Type
- Conference
- Authors
- Yang, Yang; Liu, Yunda; Zhang, Yingjie; Wang, Siyu; Bi, Sheng; Huang, Jialiang; Zhang, Jiawei
- Source
- 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Robotics and Biomimetics (ROBIO), 2017 IEEE International Conference on. :2573-2578 Dec, 2017
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Computing and Processing
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Legged locomotion
Humanoid robots
Foot
Genetic algorithms
Trajectory
Optimization
- Language
Humanoid robot has always been a popular field in robotics. Being able to walk stably in complex environments makes humanoid robots more advantageous. Stair is a common walking environment in human life, and the ability of climbing stairs is one of the basic function of humanoid robot. In this paper, the gait planning of humanoid robot climbing stairs is discussed. We use multi-objective genetic algorithm to optimize the key parameters of robot climbing stairs and simulation experiments are performed in Gazebo. The ideal gait parameters are obtained by genetic algorithm, so that the robot can walk stably and quickly.