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Stable Modifiable Walking Pattern Generator with Arm Swing Motion Using Evolutionary Optimized Central Pattern Generator

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Robot Intelligence Technology and Applications 2

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 274))

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Abstract

In this paper, a stable modifiable walking pattern generator (MWPG) is proposed by a employing arm swing motion. The arm swing motion is generated by a central pattern generator (CPG) which is optimized by a constraint evolutionary algorithm. In this scheme, the MWPG generates a position trajectory of center of mass (COM) of humanoid robot and the CPG generates the arm swing motion. A sensory feedback in the CPG is designed, which uses a inertial measurement unit (IMU) signal. For the optimization of the CPG parameters, a two-phase evolutionary programming (TPEP) is employed. The effectiveness of the proposed scheme is demonstrated by simulations using a Webots dynamic simulator for a small sized humanoid robot, HSR-IX, developed in the Robot Intelligence Technology (RIT) Lab, KAIST.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Republic of Korea

    Chang-Soo Park & Jong-Hwan Kim

Authors
  1. Chang-Soo Park
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  2. Jong-Hwan Kim
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Corresponding author

Correspondence to Chang-Soo Park .

Editor information

Editors and Affiliations

  1. Electrical Engineering, KAIST, Daejeon, Korea, Republic of (South Korea)

    Jong-Hwan Kim

  2. Computer and Information Technology, Purdue University, West Lafayette, Indiana, USA

    Eric T . Matson

  3. Civil and Environmental Engg., KAIST, Daejeon, Korea, Republic of (South Korea)

    Hyun Myung

  4. Department of Mechanical Engineering, Auckland University, Auckland, New Zealand

    Peter Xu

  5. University of Waterloo, Waterloo, Ontario, Canada

    Fakhri Karray

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Park, CS., Kim, JH. (2014). Stable Modifiable Walking Pattern Generator with Arm Swing Motion Using Evolutionary Optimized Central Pattern Generator. In: Kim, JH., Matson, E., Myung, H., Xu, P., Karray, F. (eds) Robot Intelligence Technology and Applications 2. Advances in Intelligent Systems and Computing, vol 274. Springer, Cham. https://doi.org/10.1007/978-3-319-05582-4_35

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  • DOI: https://doi.org/10.1007/978-3-319-05582-4_35

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-05581-7

  • Online ISBN: 978-3-319-05582-4

  • eBook Packages: EngineeringEngineering (R0)

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