[1]YU Jianjun,LI Chen,ZUO Guoyu,et al.Modeling and simulation of humanoid robot gait balance generalization[J].CAAI Transactions on Intelligent Systems,2020,15(3):537-545.[doi:10.11992/tis.201810017]
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Modeling and simulation of humanoid robot gait balance generalization
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
15
Number of periods:
2020 3
Page number:
537-545
Column:
学术论文—机器学习
Public date:
2020-05-05
- Title:
- Modeling and simulation of humanoid robot gait balance generalization
- Keywords:
- humanoid robot; support vector regression; gait balance generalization model; whale optimization algorithm; ZMP information; algorithm complexity; NAO robot; machine learning
- CLC:
- TP242.6
- DOI:
- 10.11992/tis.201810017
- Abstract:
- The problem of robot walking instability can be solved by calculating the zero-moment point (ZMP) through human body teaching and correction by the compensation of joint angles; however, problems such as high algorithm complexity still exist. This paper proposes a method that combines human teaching with machine learning. The gait balance generalization model of a robot is established based on the support vector regression algorithm. The joint angle of human teaching and ZMP information are inputted into the model; then, we get the joint angle compensated by stability, and the robot is driven to complete the walking action. The parameters of the whale optimization algorithm (WOA) model are introduced to make the model obtain the optimal generalization effect and improve the performance of the gait balance model. Under the Webots simulation platform, the NAO robot is driven by the compensated joint angle of the model output. The action is natural and stable, and the algorithm complexity is low, which verifies the feasibility of the method.
- References:
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