DOIONLINE 
DOIONLINE Publish In |
International Journal of Mechanical and Production Engineering (IJMPE)-IJMPE |
 Journal Home Volume Issue |
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Issue |
Volume-5,Issue-7 ( Jul, 2017 ) | |||||||||
Paper Title |
Optimal Trajectory Planning of a Humanoid Robot with Torso Modifications | |||||||||
Author Name |
Nima Sina, Mohammad Dayyani, Milad Taghizadeh | |||||||||
Affilition |
Department of Mechanical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran Department of Mechanical EngineeringIsfahan University of TechnologyIsfahanIran Department of Mechanical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran | |||||||||
Pages |
93-97 | |||||||||
Abstract |
In this article, by mathematical simulation of a seven linked biped robot and regarding zero moment point criterion, several effective walking parameters are optimized to maintain the stability of the robot. In addition, torso angle changes with respect to the time to adjust the Zero Moment Position (ZMP) of the robot. Particle Swarm Optimization (PSO) is used to generate optimal parameters of the robot. Trajectory of links are generated in the offline mode. The paper focuses on optimization of fourteen walking parameters using P.S.O. and the significant effect of torso angle in adjusting the ZMP. It can be seen that this method is very effective in generating stable walk. Index Terms- Humanoid robot, Trajectory, ZMP, Walking, Particle Swarm Optimization | |||||||||
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