On evolving a dynamic bipedal walk using Partial Fourier Series

Haider, S; Abidi, SR; Williams, MA

On evolving a dynamic bipedal walk using Partial Fourier Series

Haider, S Abidi, SR Williams, MA

Permalink

Publication Type:: Conference Proceeding
Citation:: 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, pp. 8 - 13
Issue Date:: 2012-12-01

Closed Access

	Filename	Description	Size
	2012004165OK.pdf		359.89 kB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Haider, S	en_US
dc.contributor.author	Abidi, SR	en_US
dc.contributor.author	Williams, MA https://orcid.org/0000-0002-1047-0503	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, pp. 8 - 13	en_US
dc.identifier.isbn	9781467321273	en_US
dc.identifier.uri	http://hdl.handle.net/10453/22938
dc.description.abstract	The paper presents a Partial Fourier Series (PFS) based bipedal gait in sagittal and transverse planes. The parameters of the Fourier series are optimized through Evolutionary Algorithms (EA). In addition to evolving the two walks (forward and turn) separately, the paper demonstrates how the combination of the two enables a dynamic and adjustable walk. The stability of the walk is ensured through an effective use of the built-in gyroscope sensor. The evolved walk has been tested on the simulated version of the humanoid Nao robot and is being used within the RoboCup Soccer 3D Simulation competition. © 2012 IEEE.	en_US
dc.relation.ispartof	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest	en_US
dc.relation.isbasedon	10.1109/ROBIO.2012.6490935	en_US
dc.title	On evolving a dynamic bipedal walk using Partial Fourier Series	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	Guangzhou, China	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Arts and Social Sciences
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Computer Science
pubs.organisational-group	/University of Technology Sydney/Strength - CAI - Centre for Artificial Intelligence
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

The paper presents a Partial Fourier Series (PFS) based bipedal gait in sagittal and transverse planes. The parameters of the Fourier series are optimized through Evolutionary Algorithms (EA). In addition to evolving the two walks (forward and turn) separately, the paper demonstrates how the combination of the two enables a dynamic and adjustable walk. The stability of the walk is ensured through an effective use of the built-in gyroscope sensor. The evolved walk has been tested on the simulated version of the humanoid Nao robot and is being used within the RoboCup Soccer 3D Simulation competition. © 2012 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/22938