State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

Xuyang Wang, Tiansheng Lu, Peiyan Zhang
2012 International Journal of Advanced Robotic Systems  
A new approach to generate the original motion data for humanoid motion planning is presented in this paper. And a state generator is developed based on the genetic algorithm, which enables users to generate various motion states without using any reference motion data. By specifying various types of constraints such as configuration constraints and contact constraints, the state generator can generate stable states that satisfy the constraint conditions for humanoid robots.To deal with the
more » ... iple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching. In our method, we introduce a convenient mathematic representation for the constraints involved in the state generator, and solve the optimization problem with the genetic algorithm to acquire a desired state. To demonstrate the effectiveness and advantage of the method, a number of motion states are generated according to the requirements of the motion.
doi:10.5772/46573 fatcat:datkjr442jh4ddqjo4oefvilpm