Biped robot control using particle swarm optimization

In this paper we propose a method to generate gaits of a biped robot by a particle swarm optimization algorithm. The system generates angular positions for joints with an interpolate end segments positions to evaluate walking stability. The proposed PSO is adapted to generate angular position joints, Human walking stability criteria are used to check and validate the gaits. The experimental procedure includes a robot assembly and online test. Then an upper torso controller is introduced to correct walking stability and limits fall downs.

[1]  Wei Liu,et al.  Legged robot gait locus generation based on genetic algorithms , 2006, PCAR '06.

[2]  Boudour Ammar Cherif,et al.  Human walkers detection and localization , 2009 .

[3]  N. Rokbani,et al.  Architectural Proposal for a Robotized Intelligent humanoid, IZiman , 2007, 2007 IEEE International Conference on Automation and Logistics.

[4]  Chenbo Yin,et al.  Walking Gait Planning And Stability Control , 2009 .

[5]  Jun Morimoto,et al.  Learning Biped Locomotion , 2007, IEEE Robotics & Automation Magazine.

[6]  Kiyoshi Ohishi,et al.  Dynamic gait control of biped robot based on kinematics and motion description in Cartesian space , 1999 .

[7]  Hiroshi Shimizu,et al.  Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment , 1991, Biological Cybernetics.

[8]  Marc Cavazza,et al.  Real-Time Inverse Kinematics through Constrained Dynamics , 1998, CAPTECH.

[9]  Cord Niehaus,et al.  Gait Optimization on a Humanoid Robot using Particle Swarm Optimization , 2007 .

[10]  Rodney A. Brooks,et al.  Humanoid robots , 2002, CACM.

[11]  Seong-Whan Lee,et al.  Gesture Spotting and Recognition for Human–Robot Interaction , 2007, IEEE Transactions on Robotics.

[12]  Dilip Kumar Pratihar,et al.  Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces , 2009, Appl. Soft Comput..

[13]  David A. Winter,et al.  Biomechanics and Motor Control of Human Movement , 1990 .

[14]  Nizar Rokbani,et al.  Ant supervised by PSO , 2009, 2009 4th International Symposium on Computational Intelligence and Intelligent Informatics.

[15]  Tae-Yong Choi,et al.  Experience repository based Particle Swarm Optimization and its application to biped robot walking , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[16]  Sang-Ho Hyon,et al.  Control of underactuated biped running robot via CPG , 2009, 2009 ICCAS-SICE.

[17]  Adel M. Alimi,et al.  PARTICLE SWARM OPTIMIZATION FOR HUMANOID WALKING-GAITS GENERATION , 2008 .

[18]  Nizar Rokbani,et al.  FROM GAITS TO ROBOT, A HYBRID METHODOLOGY FOR A BIPED WALKER , 2009 .

[19]  Riadh Zaier,et al.  Motion Pattern Generator and Reflex System for Humanoid Robots , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Fumiya Iida,et al.  Toward a human-like biped robot with compliant legs , 2009, Robotics Auton. Syst..

[21]  Nima Shafii,et al.  An optimized gait generator based on fourier series towards fast and robust biped locomotion involving arms swing , 2009, 2009 IEEE International Conference on Automation and Logistics.

[22]  James Kennedy,et al.  Particle swarm optimization , 1995, Proceedings of ICNN'95 - International Conference on Neural Networks.

[23]  Adel M. Alimi,et al.  Toward Intelligent Biped-Humanoids Gaits Generation , 2012, ArXiv.