Dynamically balanced obstacle crossing gait generation of a biped robot using neural networks
by M. Ravi Kumar; L. Sasirekha Lathan; Pandu Ranga Vundavilli
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 2, No. 3/4, 2015

Abstract: The gait generation problem of a biped robot while crossing the obstacle is quite difficult in nature due to its inherent complexity. In the present study, two cases, such as landing the foot on the obstacle and placing the foot on the other side of the obstacle while crossing it are considered. During gait generation, the hip and swing foot are assumed to follow straight line and cubic polynomial trajectories, respectively. The gaits related to the lower limbs and trunk are generated after utilising the concept of inverse kinematics and NN-based gait planner. Further, two population-based optimisation algorithms, such as genetic algorithm (GA) and differential evolution (DE) techniques are used to optimise the architecture of NN. Moreover, the performances of the developed GA trained NN (GA-NN) and DE trained NN (DE-NN) gait planners are compared among themselves and with that of the analytical method available in the literature.

Online publication date: Mon, 11-Jan-2016

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechanisms and Robotic Systems (IJMRS):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com