Simloid: Evolution of Biped Walking Using Physical Simulation - Softcover

Hein, Daniel

Softcover

ISBN 10: 3639053303 ISBN 13: 9783639053302

Publisher: VDM Verlag, 2008

Synopsis

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 calculationpower 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.

About this title

About the Author

Daniel Hein studierte an der Humboldt Universität zu Berlin Informatik auf Diplom und war dort während des Studiums von 2003 bis 2007 als studentischer Mitarbeiter am Institut für Künstliche Intelligenz im Bereich der autonomen Robotik tätig. Seit dem Abschluss des Studiums arbeitet er am Deutschen Zentrum für Luft- und Raumfahrt e.V.

Edition details

• Publisher: VDM Verlag
• Publication date: 2008
• Language: English
• ISBN 10: 3639053303
• ISBN 13: 9783639053302
• Binding: Paperback
• Number of pages: 112