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Turning gait is a basic motion for humanoid robots. In this article a model free approach is presented and our emphasis is how to make robot's “turn-in-place” motion more stable and faster. In this regard we use Genetic algorithm to optimize produced signals by Fourier Series (FS) which controls joint's angels. We show the effectiveness of the proposed method through simulation and experimental results.
Bipedal locomotion is one of the most challenging problems in control, artificial intelligence, mechanics and other related fields. In this article a model free approach with emphasis on making robot's walking more stable and faster is presented. In this regard we use particle swarm optimization (PSO) to optimize the signals produced by truncated Fourier series (TFS) which control joints' angels....
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