Gait optimization of a novel tripedal robot

Jie Zhao; Ming Pang; Jizhuang Fan; Hegao Cai

Gait optimization of a novel tripedal robot

Jie Zhao^*
, Ming Pang
, Jizhuang Fan
, Hegao Cai

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

This paper particularly discusses gait optimization of a novel tripedal robot: HIT-TRIPEDAL. In order to satisfy the need for walking velocity of hit-tripedal, a feasible program of genetic algorithm is studied which avoids the problem of premature convergence and obtains relative authentic results. A method of nested optimization is also developed which improves the precision of GA with consuming the same time and then random experiment results performed have proved that nested optimization is effective.

Original language	English
Pages (from-to)	162-164
Number of pages	3
Journal	Jisuanji Gongcheng/Computer Engineering
Volume	32
Issue number	15
State	Published - 5 Aug 2006

Keywords

Gait optimization
Genetic algorithm
Nested optimization
Tripedal robot

Cite this

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title = "Gait optimization of a novel tripedal robot",

abstract = "This paper particularly discusses gait optimization of a novel tripedal robot: HIT-TRIPEDAL. In order to satisfy the need for walking velocity of hit-tripedal, a feasible program of genetic algorithm is studied which avoids the problem of premature convergence and obtains relative authentic results. A method of nested optimization is also developed which improves the precision of GA with consuming the same time and then random experiment results performed have proved that nested optimization is effective.",

keywords = "Gait optimization, Genetic algorithm, Nested optimization, Tripedal robot",

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AU - Pang, Ming

AU - Fan, Jizhuang

AU - Cai, Hegao

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N2 - This paper particularly discusses gait optimization of a novel tripedal robot: HIT-TRIPEDAL. In order to satisfy the need for walking velocity of hit-tripedal, a feasible program of genetic algorithm is studied which avoids the problem of premature convergence and obtains relative authentic results. A method of nested optimization is also developed which improves the precision of GA with consuming the same time and then random experiment results performed have proved that nested optimization is effective.

AB - This paper particularly discusses gait optimization of a novel tripedal robot: HIT-TRIPEDAL. In order to satisfy the need for walking velocity of hit-tripedal, a feasible program of genetic algorithm is studied which avoids the problem of premature convergence and obtains relative authentic results. A method of nested optimization is also developed which improves the precision of GA with consuming the same time and then random experiment results performed have proved that nested optimization is effective.

KW - Gait optimization

KW - Genetic algorithm

KW - Nested optimization

KW - Tripedal robot

UR - https://www.scopus.com/pages/publications/33748442715

M3 - 文章

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JF - Jisuanji Gongcheng/Computer Engineering

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ER -

Gait optimization of a novel tripedal robot

Abstract

Keywords

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