Simloid - Evolution of Biped Walking Using Physical Simulation
Daniel Hein
Simloid - Evolution of Biped Walking Using Physical Simulation
Daniel Hein
This title is printed to order. This book may have been self-published. If so, we cannot guarantee the quality of the content. In the main most books will have gone through the editing process however some may not. We therefore suggest that you be aware of this before ordering this book. If in doubt check either the author or publisher’s details as we are unable to accept any returns unless they are faulty. Please contact us if you have any questions.
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 be-come an important field of research. With growing calculation power 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 approa-ches of biped motion generation, which specify target angle functions for all driven joints. Both approaches were developed and imple-mented 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.
This item is not currently in-stock. It can be ordered online and is expected to ship in 7-14 days
Our stock data is updated periodically, and availability may change throughout the day for in-demand items. Please call the relevant shop for the most current stock information. Prices are subject to change without notice.
Sign in or become a Readings Member to add this title to a wishlist.