Interactive Genetic Algorithm for Trajectory Generation of Human Friendly Robots.
نویسندگان
چکیده
منابع مشابه
Parametric Trajectory Generation for Mobile Robots
The problem associated with trajectory generation for a mobile robot moving from an initial configuration to any final configuration is studied in this paper. The aim to find a trajectory with minimum energy cost of execution, by using primitive five order polynomials to generate both paths and trajectories for coordinates x and y. The method allows for the imposition of initial and final posit...
متن کاملTrajectory generation for kinematic legged robots
We present a general trajectory generation scheme for a class of “kinematic” legged robots. The method does not depend upon the number of legs, nor is it based on foot placement concepts. Instead, our method is based on an extension of a nonlinear trajectory generation algorithm for smooth systems to the legged case, where the relevant mechanics are not smooth. Our extension is based on the rea...
متن کاملHuman-Friendly Robots for Entertainment and Education
Even though the market size is still small at this moment, applications of robots are gradually spreading out from the manufacturing industrial environment to face other important challenges, like the support of an aging society and to educate the new generations. The development of human-friendly robots drives research that aims at autonomous or semi-autonomous robots that are natural and intu...
متن کاملZMP trajectory generation for reduced trunk motions of biped robots
Trunk motions are typically used to stabilize the locomotion of biped robots, which can be very large in some leg trajectories. This paper proposes a method to reduce the motion range of the trunk by generating a desired trajectory of the ZMP. The trajectory is determined by a fuzzy logic based upon the leg trajectories that are arbitrary selected. The resulting ZMP trajectory is similar to hum...
متن کاملThe safe control of human-friendly robots
This paper introduces a new approach to the control of robot manipulators in a way that is safe for humans in the robot's workspace. Conceptually the robot is viewed as a tool with limited autonomy. The limited perception capabilities of automatic systems prohibits the construction of failsafe robots with the capabilities of people. Instead, the goal of our control scheme is to make the interac...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2000
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.66.2274