Simloid - Evolution of Biped Walking Using Physical Simulation

ISBN-10: 3639053303
ISBN-13: 9783639053302
Edition: 2008
Authors: Daniel Hein
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Description: 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  More...

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Book details

Copyright year: 2008
Publisher: .AV Akademikerverlag GmbH & Co. KG
Binding: Paperback
Pages: 112
Size: 6.00" wide x 9.00" long x 0.23" tall
Weight: 0.396
Language: English

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 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 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.

Dan Hein is the first-time author of The Decagen Chronicle by Aguystus Cronkhite, a story about one mortal's journey through time to seek redemption for himself, his family, and the human race. An engineer by trade, and avid genealogist by hobby, Hein grew up in Pennsylvania Dutch Country, listening to folklore told by his father who had a passion for storytelling and woodcarving. His ancestry, traced back to Freudenberg Germany, uncovered some long forgotten secrets that inspired the novel's intricate plot. Hein continues to write in his New Mexico home, gaining inspiration from tales of old as told by the Brother's Grimm from the heart of Germany's folklore district in Steinau.

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