Three-Dimensional Posture Optimization for Biped Robot Stepping over Large Ditch Based on a Ducted-Fan Propulsion System
Zhifeng Huang,Zijun Wang,Jiapeng Wei,Jingtao Yu,Yuhao Zhou,Pihao Lao,Xiaoliang Huang,Xuexi Zhang,Yun Zhang,Zhifeng Huang,Zijun Wang,Jiapeng Wei,Jingtao Yu,Yuhao Zhou,Pihao Lao,Xiaoliang Huang,Xuexi Zhang,Yun Zhang
The recent progress of an ongoing project utilizing a ducted-fan propulsion system to improve a humanoid robot's ability to step over large ditches is reported. A novel method (GAS) based on the genetic algorithm with smoothness constraint can effectively minimize the thrust by optimizing the robot's posture during 3D stepping. The significant advantage of the method is that it can realize the con...
