A stochastic optimization method of CPG-based motion control for humanoid locomotion.
Yoshihiko ItohKenta TakiShohei KatoHidenori ItohPublished in: RAM (2004)
Keyphrases
- optimization method
- motion control
- mobile robot
- robot control
- control policies
- optimization algorithm
- optimization methods
- control system
- optimization process
- motion planning
- degrees of freedom
- particle swarm
- simulated annealing
- genetic algorithm
- differential evolution
- autonomous navigation
- metaheuristic
- evolutionary algorithm
- optimization procedure
- path planning
- autonomous robots
- nelder mead simplex
- physical constraints
- robotic systems
- humanoid robot
- dynamic environments
- visual servoing
- control algorithm
- multi robot
- fitness function
- kinematic model
- real robot
- optimization problems
- neural network