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Efficient walking speed optimization of a humanoid robot

Hemker, Thomas and Sakamoto, H. and Stelzer, M. and Stryk, Oskar von and Stryk, Oskar von (2009):
Efficient walking speed optimization of a humanoid robot.
In: International Journal of Robotics Research, pp. 303-314, 28, (2), DOI: 10.1177/0278364908095171, [Article]

Abstract

The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and an internal stabilization. The robot is included as hardware-in-the-loop to define a low dimensional black-box optimization problem. In contrast to previously performed walking optimization approaches we apply a sequential surrogate optimization approach using stochastic approximation of the underlying objective function and sequential quadratic programming to search for a fast and stable walking motion. This is done under the conditions that only a small number of physical walking experiments should have to be carried out during the online optimization process. For the identified walking motion for the considered 55 cm tall humanoid robot we measured a forward walking speed of more than 30 cm/sec. With a modified version of the robot even more than 40 cm/sec could be achieved in permanent operation.

Item Type: Article
Erschienen: 2009
Creators: Hemker, Thomas and Sakamoto, H. and Stelzer, M. and Stryk, Oskar von and Stryk, Oskar von
Title: Efficient walking speed optimization of a humanoid robot
Language: English
Abstract:

The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and an internal stabilization. The robot is included as hardware-in-the-loop to define a low dimensional black-box optimization problem. In contrast to previously performed walking optimization approaches we apply a sequential surrogate optimization approach using stochastic approximation of the underlying objective function and sequential quadratic programming to search for a fast and stable walking motion. This is done under the conditions that only a small number of physical walking experiments should have to be carried out during the online optimization process. For the identified walking motion for the considered 55 cm tall humanoid robot we measured a forward walking speed of more than 30 cm/sec. With a modified version of the robot even more than 40 cm/sec could be achieved in permanent operation.

Journal or Publication Title: International Journal of Robotics Research
Volume: 28
Number: 2
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
DOI: 10.1177/0278364908095171
Identification Number: 2008_hemker_ijr
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