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Robot Intelligence Technology and Applications 2012 pp 223–230Cite as

Stable Modifiable Walking Pattern Algorithm with Constrained Optimized Central Pattern Generator

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 208))

Abstract

In this paper, stable modifiable walking pattern algorithm is proposed using evolutionary optimized central pattern generator (CPG). Sensory feedback pathways in CPG are proposed, which use force sensing resistor (FSR) signals. For the optimization of CPG parameters, two-phase evolutionary programming (TPEP) is employed. Modifiable walking pattern generator (MWPG) generates position trajectory of center of mass (COM) of humanoid robot and CPG generates sagittal swing foot position trajectory. 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 and Computer Sci., KAIST, 291 Daehak-ro, Daejeon, 305-701, Korea, Republic of (South Korea)

    Jong-Hwan Kim

  2. Dept. Computer &, Information Technology (ICT), Purdue University, N. Grant St. 401, West Lafayette, 47907-1421, Indiana, USA

    Eric T. Matson

  3. , Dept. of Civil and Environmental Engg., KAIST, Daehak-ro 291, Daejeon, 305-701, Korea, Republic of (South Korea)

    Hyun Myung

  4. , Faculty of Engineering, The University of Auckland, Private Bag, Auckland, 1142, New Zealand

    Peter Xu

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Park, CS., Kim, JH. (2013). Stable Modifiable Walking Pattern Algorithm with Constrained Optimized Central Pattern Generator. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_22

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  • DOI: https://doi.org/10.1007/978-3-642-37374-9_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-37373-2

  • Online ISBN: 978-3-642-37374-9

  • eBook Packages: EngineeringEngineering (R0)

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