Research Article

IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation

by  Nizar Rokbani, Adel M Alimi
journal cover
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 58 - Issue 22
Published: November 2012
Authors: Nizar Rokbani, Adel M Alimi
10.5120/9432-3844
PDF

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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Index Terms
Computer Science
Information Sciences
No index terms available.
Keywords

Biped robotics Gait generation Particle Swarm Optimization Inverse kinematics. Inertia weight PSO

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