<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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, which helps to guide searching direction guidance at the beginning. A population update mechanism based on opposition learning is proposed for speeding up the convergence and improving the diversity. Simulation results validate the proposed method.</p></abstract>

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, which helps to guide searching direction guidance at the beginning. A population update mechanism based on opposition learning is proposed for speeding up the convergence and improving the diversity. Simulation results validate the proposed method.

Opposition-Based Learning Particle SWARM Optimization of Running Gait for Humanoid Robot

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This paper investigates the problem of running gait optimization for humanoid robot. In order to reduce energy consumption and guarantee the dynamic balance...

Opposition-Based Learning Particle SWARM Optimization of Running Gait for Humanoid Robot

Publié en ligne: 01 juin 2015

Pages: 1162 - 1179

Reçu: 14 janv. 2015

Accepté: 16 avr. 2015

DOI: https://doi.org/10.21307/ijssis-2017-801

© 2015 Liang Yang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.