Parameter optimization of a signal-based omni-directional biped locomotion using evolutionary strategies

Authors:
Bariş Gökçe;H. Levent Akin
Affiliations:
Boğaziçi University, Department of Computer Engineering, Bebek, Istanbul, Turkey;Boğaziçi University, Department of Computer Engineering, Bebek, Istanbul, Turkey
Venue:
RoboCup 2010
Year:
2011

Citing 5
Cited 0

Passive dynamic walking

International Journal of Robotics Research
The theory of evolution strategies

The theory of evolution strategies
Low-power VLSI decoder architectures for LDPC codes

Proceedings of the 2002 international symposium on Low power electronics and design
A Scalable Architecture for LDPC Decoding

Proceedings of the conference on Design, automation and test in Europe - Volume 3
Observer-based dynamic walking control for biped robots

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

The ultimate goal of RoboCup depends heavily on the advances in the development of humanoid robots. Flexible walking is a crucial part of playing soccer and bipedal walking has been a very active research topic in RoboCup. In this paper a signal-based omnidirectional walking algorithm for the Aldebaran Nao humanoid robot is presented. Inspired from the existing methods in the literature, the proposed method models the omni-directional motion as the combination of a set of periodic signals. The parameters controlling the characteristics of the signals are encoded into genes and Evolutionary Strategies is used to learn an optimal set of parameters.