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State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm
| Content Provider | SAGE Publishing |
|---|---|
| Author | Wang, Xuyang Lu, Tiansheng Zhang, Peiyan |
| Copyright Year | 2012 |
| Abstract | A new approach to generate the original motion data for humanoid motion planning is presented in this paper. And a state generator is developed based on the genetic algorithm, which enables users to generate various motion states without using any reference motion data. By specifying various types of constraints such as configuration constraints and contact constraints, the state generator can generate stable states that satisfy the constraint conditions for humanoid robots. To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching. In our method, we introduce a convenient mathematic representation for the constraints involved in the state generator, and solve the optimization problem with the genetic algorithm to acquire a desired state. To demonstrate the effectiveness and advantage of the method, a number of motion states are generated according to the requirements of the motion. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/50918?download=true |
| ISSN | 17298806 |
| Issue Number | 1 |
| Volume Number | 9 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/50918 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2012-01-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2012 Wang et al.; licensee InTech. |
| Subject Keyword | humanoid robot multiple constraints genetic algorithm inverse kinematics state generation |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
