期刊名称：International Journal on Smart Sensing and Intelligent Systems
印刷版ISSN：1178-5608
出版年度：2015
卷号：8
期号：2
页码：1162-1179
出版社：Massey University
摘要：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.
关键词：gait planning; Humanoid Robot; Yaw Moment; opposition learning; ZMP.
