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Publication date: 1 December 2001

Genci Capi, Yasuo Nasu, Leonard Barolli, Kazuhisa Mitobe and Mitsuhiro Yamano

Going upstairs is a common humanoid robot task. In this paper, a genetic algorithm (GA) gait synthesis method for going upstairs and a radial basis function neural network (RBFNN…

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Abstract

Going upstairs is a common humanoid robot task. In this paper, a genetic algorithm (GA) gait synthesis method for going upstairs and a radial basis function neural network (RBFNN) implementation, are considered. The gait synthesis is analyzed based on the minimum consumed energy and minimum torque change. The proposed method can easily be applied to generate the angle trajectories for going downstairs, overcoming obstacles, etc. In our work, the stability is verified through the ZMP concept. For the real time implementation, a RBFNN which is taught based on the GA results, is considered. The RBFNN generates the optimal gait in a very short time, where the input variables are the step length, step height and step time. Simulations are realized based on the parameters of the “Bonten‐Maru I” humanoid robot.

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Industrial Robot: An International Journal, vol. 28 no. 6
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 1 June 2001

Kenro Takeda, Yasuo Nasu, Genci Capi, Mitsuhiro Yamano, Leonard Barolli and Kazuhisa Mitobe

Recently, many control architectures for robots have been proposed. However, in these architectures, it is difficult to add new functions to existing applications or add new…

394

Abstract

Recently, many control architectures for robots have been proposed. However, in these architectures, it is difficult to add new functions to existing applications or add new applications. Moreover, developing a robot control system using many researchers makes it difficult to cooperate with each other. In order to deal with these problems, we propose a Humanoid Robot Control Architecture (HRCA) based on Common Object Request Broker Architecture (CORBA). The proposed HRCA is organized as a client/server control architecture. The HRCA is implemented as an integration of many humanoid robot control modules, which correspond to CORBA servers and clients. By applying these to “Bonten‐Maru I” a humanoid robot, which is under development in our laboratory, we describe the HRCA modules and the effectiveness of HRCA. We confirmed the effectiveness of HRCA from simulation and experimental results. By using the proposed HRCA, the control of the humanoid robot in a distributed environment such as a Local Area Network (LAN) is possible and thus various humanoid robots in the world can share their own modules with each other via the Internet.

Details

Industrial Robot: An International Journal, vol. 28 no. 3
Type: Research Article
ISSN: 0143-991X

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