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유전 알고리듬을 이용한 이족 보행 로봇의 계단 오르기 최적 보행 궤적 생성
金銀宿(Eunsu Kim),金萬錫(Manseak Kim),金鍾旭(Jong-Wook Kim) 대한전기학회 2009 전기학회논문지 Vol.58 No.2
In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.
유도된 이진난수 생성법을 이용한 uDEAS의 Multi-start 성능 개선
김은숙(Eunsu Kim),김만석(Manseak Kim),김종욱(Jong-Wook Kim) 대한전기학회 2009 전기학회논문지 Vol.58 No.4
This paper proposes a new multi-start scheme that generates guided random bits in selecting initial search points for global optimization with univariate dynamic encoding algorithm for searches (uDEAS). The proposed method counts the number of 1 in each bit position from all the previously generated initial search matrices and, based on this information, generates 0 in proportion with the probability of selecting 1. This rule is simple and effective for improving diversity of initial search points. The performance improvement of the proposed multi-start is validated through implementation in uDEAS and function optimization experiments.