Research Article
IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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| Volume 58 - Issue 22 |
| Published: November 2012 |
| Authors: Nizar Rokbani, Adel M Alimi |
10.5120/9432-3844
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Nizar Rokbani, Adel M Alimi . IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation. International Journal of Computer Applications. 58, 22 (November 2012), 33-39. DOI=10.5120/9432-3844
@article{ 10.5120/9432-3844,
author = { Nizar Rokbani,Adel M Alimi },
title = { IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation },
journal = { International Journal of Computer Applications },
year = { 2012 },
volume = { 58 },
number = { 22 },
pages = { 33-39 },
doi = { 10.5120/9432-3844 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2012
%A Nizar Rokbani
%A Adel M Alimi
%T IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation%T
%J International Journal of Computer Applications
%V 58
%N 22
%P 33-39
%R 10.5120/9432-3844
%I Foundation of Computer Science (FCS), NY, USA
Abstract
This paper describes a new approach allowing the generation of a simplified Biped gait. This approach combines a classical dynamic modeling with an inverse kinematics' solver based on particle swarm optimization, PSO. First, an inverted pendulum, IP, is used to obtain a simplified dynamic model of the robot and to compute the target position of a key point in biped locomotion, the Centre Of Mass, COM. The proposed algorithm, called IK-PSO, Inverse Kinematics PSO, returns and inverse kinematics solution corresponding to that COM respecting the joints constraints. In This paper the inertia weight PSO variant is used to generate a possible solution according to the stability based fitness function and a set of joints motions constraints. The method is applied with success to a leg motion generation. Since based on a pre-calculated COM, that satisfied the biped stability, the proposal allowed also to plan a walk with application on a small size biped robot.
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