Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm

[摘要] In this paper, online gait control system is designed for walking-up-stairs movement according to the features of humanoid robot, the hybrid evolutionary approach based on neural network optimized by particle swarm is employed for the offline training of the movement process, and the optimal gait of the stability is generated. Additionally, through embedded monocular vision, on-site environmental information is collected as neural network input, so necessary joint trajectory is output for the movement. Simulations and experiment testify the efficiency of the method.

[学科分类] 自动化工程

[关键词] humanoid robot;neural network;particle swarm optimization;gait control