Efficient walking speed optimization of a humanoid robot

  • Hemker T
  • Stelzer M
  • Von Stryk O
 et al. 
  • 26

    Readers

    Mendeley users who have this article in their library.
  • 22

    Citations

    Citations of this article.

Abstract

The development of optimized motions of humanoid robots that guarantee fast and also stable walking is an important task, especially in the context of autonomous soccer-playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low-dimensional parameterized walking trajectory generator, joint motor controller and an internal stabilization. The robot is included as hardware-in-the-loop to define a low-dimensional black-box optimization problem. In contrast to previously performed walking optimization approaches, we apply a sequential surrogate optimization approach using stochastic approximation of the underlying objective function and sequential quadratic programming to search for a fast and stable walking motion. This is done under the conditions that only a small number of physical walking experiments should have to be carried out during the online optimization process. For the identified walking motion for the considered 55 cm tall humanoid robot, we measured a forward walking speed of more than 30 cm s -1. With a modified version of the robot, even more than 40 cm s -1 could be achieved in permanent operation. © SAGE Publications 2009 Los Angeles, London.

Author-supplied keywords

  • Humanoid robot
  • Robust optimization
  • Walking optimization

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free