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In Jour Smart Sensing And Intelligent Systems

Article

OPPOSITION-BASED LEARNING PARTICLE SWARM OPTIMIZATION OF RUNNING GAIT FOR HUMANOID ROBOT

This paper investigates the problem of running gait optimization for humanoid robot. In order to reduce energy consumption and guarantee the dynamic balance including both horizontal and vertical stability, a novel running gait generation based on opposition-based learning particle swarm optimization (PSO) is proposed which aims at high energy efficiency with better stability. In the proposed scheme of running gait generation, a population initiation policy based on domain knowledge is employed

Liang Yang, Song Xijia, Chunjian Deng

International Journal on Smart Sensing and Intelligent Systems , ISSUE 2, 1162–1179

Research Article

BIPED LOCOMOTION: STABILITY, ANALYSIS AND CONTROL

robot to improve stability. The effectiveness of the method is demonstrated on a humanoid robot, MaNUS-I, to reject disturbances of various form.

Prahlad Vadakkepat, Dip Goswami

International Journal on Smart Sensing and Intelligent Systems , ISSUE 1, 187–207