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Abstract

Hopping motion is a prerequisite for running motion, and thus, there have been various approaches for running and/or hopping motion. However, no methods provide an optimal hopping motion for general humanoid robots although the hopping motions have been implemented successfully. Various considerations exist for the optimal hopping of the humanoid robot, and this complicated problem can be formulated as an optimization problem. In this paper, an evolutionary optimization problem for optimal hopping motion of the humanoid robot is formulated to achieve efficient hopping with maximum flight time as well as stable hopping. The validity of the proposed method is verified through a simulation and an experiment with an actual humanoid robot platform.

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Evolutionary Optimization for Optimal Hopping of Humanoid Robots

Hopping motion is a prerequisite for running motion, and thus, there have been various approaches for running and/or hopping motion. However, no methods provide an optimal hopping motion for general humanoid robots although the hopping motions have been implemented successfully. Various considerations exist for the optimal hopping of the humanoid robot, and this complicated problem can be formulated as an optimization problem. In this paper, an evolutionary optimization problem for optimal hopping motion of the humanoid robot is formulated to achieve efficient hopping with maximum flight time as well as stable hopping. The validity of the proposed method is verified through a simulation and an experiment with an actual humanoid robot platform.

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Keywords

evolutionary optimization problem running andor hopping motion maximum flight time optimal hopping of the humanoid robot

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Young-Dae Hong,.Evolutionary Optimization for Optimal Hopping of Humanoid Robots. 64 (2),1279-1283.

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