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Evolutionary optimized footstep planning for humanoid robot
2009
2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)
This paper proposes a novel evolutionary optimized footstep planner for humanoid robot. Firstly, a footstep planner using univector field navigation method is proposed to provide a command state (CS) which is to be the input of modifiable walking pattern generator (MWPG) at each footstep. Then the MWPG generates the associated trajectories of every leg joint of humanoid robot at each footstep to follow the inputted CS. Secondly, the step length modification method which makes the humanoid robot
doi:10.1109/cira.2009.5423197
dblp:conf/cira/HongKK09
fatcat:5vyiuhvqfveshcpjcdt3ovw5gi