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Three-dimensional posture optimization for biped robot stepping over large ditch based on a ducted-fan propulsion system
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- Huang, Zhifeng (author)
- Guangdong University of Technology
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- Wang, Zijun (author)
- Guangdong University of Technology
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- Wei, Jiapeng (author)
- Guangdong University of Technology
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- 2020
- 2020
- English.
- In: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 3591-3597
- Conference paper (peer-reviewed)
Abstract
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- The recent progress of an ongoing project utilizing a ducted-fan propulsion system to improve a humanoid robot's ability to step over large ditches is reported. A novel method (GAS) based on the genetic algorithm with smoothness constraint can effectively minimize the thrust by optimizing the robot's posture during 3D stepping. The significant advantage of the method is that it can realize the continuity and smoothness of the thrust and pelvis trajectories. The method enables the landing point of the robot's swing foot to be not only in the forward but also in a side direction. The methods were evaluated by simulation and by being applied on a prototype robot, JetHR1. By keeping a quasistatic balance, the robot could step over a ditch with a span of 450 mm (as much as 97% of the length of the robot's leg) in 3D stepping.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
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- Huang, Zhifeng
- Wang, Zijun
- Wei, Jiapeng
- Yu, Jingtao
- Zhou, Yuhao
- Lao, Pihao
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- Zhang, Xuexi
- Zhang, Yun
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- ENGINEERING AND TECHNOLOGY
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- Chalmers University of Technology
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