Natural motion generation of biped locomotion robot using hierarchical trajectory generation method consisting of GA, EP layers.
Takemasa ArakawaToshio FukudaPublished in: ICRA (1997)
Keyphrases
- generation method
- robot motion
- humanoid robot
- control strategy
- mobile robot
- rough terrain
- motion planning
- legged locomotion
- configuration space
- genetic algorithm ga
- genetic algorithm
- biologically inspired
- outdoor environments
- human robot interaction
- collision free
- multi modal
- biped walking
- multiple layers
- fitness function
- degrees of freedom
- motion patterns
- robotic systems
- autonomous navigation
- robot moves
- collision avoidance
- control method
- evolutionary algorithm
- motion control
- trajectory planning
- obstacle avoidance
- control signals
- human motion
- visual servoing
- position and orientation
- control system
- quadruped robot
- neural network
- sagittal plane
- inverse kinematics
- real robot
- control law
- control algorithm
- multi robot
- motion segmentation
- path planning
- vision system