HUMANOID ROBOT MOTION PLANNING – A MULTIPLE CONSTRAINS APPROACH
作者： G. Capi , K. Mitobe
DOI: 10.2316/JOURNAL.201.2010.2.201-2168
关键词:
摘要: In this paper, we present a new method for humanoid robot motion planning under multiple constraints. our method, the constraints is formulated as multiobjective optimization problem, considering each constraint separate objective function. Three different constrains are considered: (1) minimum energy consumption; (2) stability; and (3) walking speed. The advantage of proposed that in single run evolution, generated motions satisfying constraint. results show optimal gaits have large similarity with humans. order to further verify performance they transferred “Bonten-Maru” robot.
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