Simloid - Evolution of Biped Walking Using Physical Simulation - Tapa blanda

Hein, Daniel

 
9783639053302: Simloid - Evolution of Biped Walking Using Physical Simulation
Tapa blanda
ISBN 10: 3639053303 ISBN 13: 9783639053302
Editorial: VDM Verlag Dr. Mueller e.K., 2008

Sinopsis

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is still an open and complex problem. Thus, the development of control mechanisms for biped walking have be­come an important field of research. With growing calculation power of computer hardware, high resolution realtime simulation of such robot models in effect becomes all the more applicable.This thesis presents a physical simulation of a 19 degrees of freedom real biped robot model and demonstrates its application for exploring biped motion control techniques. It introduces two different approa­ches of biped motion generation, which specify target angle functions for all driven joints. Both approaches were developed and imple­mented within the physical simulation of the biped robot. Whilst the motion parameters were identified and optimized using evolutionary algorithms, several walking patterns could be generated, allowing the simulated robot for covering finally more than 10m within 25s.

"Sinopsis" puede pertenecer a otra edición de este libro.

Reseña del editor

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is still an open and complex problem. Thus, the development of control mechanisms for biped walking have be­come an important field of research. With growing calculation power of computer hardware, high resolution realtime simulation of such robot models in effect becomes all the more applicable. This thesis presents a physical simulation of a 19 degrees of freedom real biped robot model and demonstrates its application for exploring biped motion control techniques. It introduces two different approa­ches of biped motion generation, which specify target angle functions for all driven joints. Both approaches were developed and imple­mented within the physical simulation of the biped robot. Whilst the motion parameters were identified and optimized using evolutionary algorithms, several walking patterns could be generated, allowing the simulated robot for covering finally more than 10m within 25s.

"Sobre este título" puede pertenecer a otra edición de este libro.

Editorial
VDM Verlag Dr. Mueller e.K.
Año de publicación
2008
Idioma
Inglés
ISBN 10 
3639053303
ISBN 13 
9783639053302
Encuadernación
Tapa blanda
Número de páginas
112
Contacto del fabricante
no disponible
Persona responsable
no disponible