| Title |
A Combined CPG and GA Based Adaptive Humanoid Walking for Rolling Terrains |
| Authors |
경덕환(Deokhwan Kyeong) ; 서기성(Kisung Seo) |
| DOI |
http://doi.org/10.5370/KIEE.2018.67.5.663 |
| Keywords |
Humanoid robot ; Rolling terrains ; Central pattern generator ; Adaptive walking ; Genetic algorithm |
| Abstract |
A combined CPG (Central Pattern Generator) based foot trajectory and GA (Genetic Algorithm) based joint compensation method is presented for adaptive humanoid walking. In order to increase an adaptability of humanoid walking for rough terrains, the experiment for rolling terrains are introduced. The CPG based foot trajectory method has been successfully applied to basic slops and variable slops, but has a limitation for the rolling terrains. The experiments are conducted in an ODE based Webots simulation environment using humanoid robot Nao to verify a stability of walking for various rolling terrains. The proposed method is compared to the previous CPG foot trajectory technique and shows better performance especially for the cascade rolling terrains. |