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Inverse kinematic of biped robot based simulated annealing
Other Title(s)
ﺣل اﻟﻣﺷﻛﻠﺔ اﻟﻌﻛﺳﯾﺔ ﻟﻼﻧﺳﺎن الآلي ذو اﻟﻘدﻣﯾن ﺑﺎﺳﺗﻌﻣﺎل طرﯾﻘﺔ اﻟﺗﻠدﯾن اﻟﻣﻘﻠد
Author
Source
Engineering and Technology Journal
Issue
Vol. 32, Issue 1A (31 Jan. 2014), pp.106-117, 12 p.
Publisher
Publication Date
2014-01-31
Country of Publication
Iraq
No. of Pages
12
Main Subjects
Abstract AR
الإنسان الآلي ذو القدمين أصبح أكثر عمومية في حياتنا بشكل مباشر كأنماط سلوكية عامة.
حيث يتمكن من تقليد مسير لإنسان بشكل كبير لذلك عدة أنواع درست و طورت.
هذا البحث نحاول إيجاد مخطط لهذا الإنسان الآلي لأداء مهمة معينة حيث يتم استعمال طريقة التلدين المقلد لمنهجيات المشكلة الحركية المعكوسة, و بيان جودة هذه الطريقة.
دالة موضوعية جديدة تم اقتراحها لإيجاد الموقف المثالي للإنسان الآلي ذو القدمين باستخدام بعض القيود ضمن الدالة لتحقيق أفضل موقف.
تمت مقارنة الطريقة المقترحة مع الطريقة التقليدية خلال ماتلاب a 2009 لإظهار كفاءة الطريقة الجديدة.
بينت النتائج كفاءة الطريقة المقترحة.
Abstract EN
Biped robot has become more general purpose in our live as general behavioral patterns.
It can walk very similar to human walking pattern.
Therefore, many robots have been researched and developed in recent years.
Through this paper a planner biped robot is modeled for specific task.
This paper tries to explore the potential of using Simulated Annealing (SA) methodologies in the Inverse Kinematic Problem (IKP),utility and effectiveness of this method for the solve IKP of biped robot is presented.
It presents a new objective function to find the optimal posture of biped robot by employing some constrain in the objective function to meet best posture.
A comparison between the proposed method and the classical method using Genetic Algorithm (GA) are made through the Matlab 2009a software to show the efficiency of the new method.
Experimental results demonstrate that better performance can be achieved with this method.
American Psychological Association (APA)
Miry, Abbas Husayn. 2014. Inverse kinematic of biped robot based simulated annealing. Engineering and Technology Journal،Vol. 32, no. 1A, pp.106-117.
https://search.emarefa.net/detail/BIM-371079
Modern Language Association (MLA)
Miry, Abbas Husayn. Inverse kinematic of biped robot based simulated annealing. Engineering and Technology Journal Vol. 32, no. 1A (2014), pp.106-117.
https://search.emarefa.net/detail/BIM-371079
American Medical Association (AMA)
Miry, Abbas Husayn. Inverse kinematic of biped robot based simulated annealing. Engineering and Technology Journal. 2014. Vol. 32, no. 1A, pp.106-117.
https://search.emarefa.net/detail/BIM-371079
Data Type
Journal Articles
Language
English
Notes
Includes appendix : p. 117
Record ID
BIM-371079