Simulation based design optimization framework for a gait pattern generation of a small biped robot with tiptoe mechanism

Krissana Nerakae, Hiroshi Hasegawa

Research output: Contribution to conferencePaper

Abstract

The research of biped robot is still far from proposing a solution which generates a level of flexibility and reliability gait pattern that would enable practical walking on the variety of rough ground human's negotiation with ease on a regular basis. To solve its issue, we learn from the mammal, belong to the plantigrade, on the natural world. The plantigrade, i.e., human, monkey or bear walk by adapting to a ground from a toe up to heel. From this adaptive walk, its flexibility and stability are excellent although this gait is not suitable for a quick walk. In this study, to get flexibility and reliability of gait pattern, we introduce a tiptoe mechanism to a small biped robot through inspiration from its adaptive walk, and develop the Simulation Based Design Optimization framework (SBDO). In this paper, the SBDO framework by approximated optimization process using Adaptive Plan system with Genetic Algorithm (APGA) is proposed. Moreover, to validate an ability of this framework, a small biped robot with tiptoe mechanism is simulated on flat ground at first trial. We discuss this validation result for estimating the SBDO framework.

Original languageEnglish
Pages295-302
Number of pages8
Publication statusPublished - 2011 Jan 1
Event10th International Conference on Modeling and Applied Simulation, MAS 2011, Held at the International Mediterranean and Latin American Modeling Multiconference, I3M 2011 - Rome, Italy
Duration: 2011 Sep 122011 Sep 14

Conference

Conference10th International Conference on Modeling and Applied Simulation, MAS 2011, Held at the International Mediterranean and Latin American Modeling Multiconference, I3M 2011
CountryItaly
CityRome
Period11/9/1211/9/14

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Keywords

  • Adaptive plan system with genetic algorithm (APGA)
  • Simulation based design optimization (SBDO)
  • Tiptoe mechanism

ASJC Scopus subject areas

  • Modelling and Simulation

Cite this

Nerakae, K., & Hasegawa, H. (2011). Simulation based design optimization framework for a gait pattern generation of a small biped robot with tiptoe mechanism. 295-302. Paper presented at 10th International Conference on Modeling and Applied Simulation, MAS 2011, Held at the International Mediterranean and Latin American Modeling Multiconference, I3M 2011, Rome, Italy.