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• W2743452737 abstract "This paper proposes a searching method of optimum stepping point sequence for legged robot in obstacle environment. An optimum stepping point sequence is determined by minimizing the moving time and the energy consumption. The combinatorial optimization problem is solved by application of the genetic algorithm. When there are several obstacles in movement route, an optimum stepping pattern exists, it is depended on obstacles configuration. The trajectory is generated for idling legs and supporting legs. Optimum stepping point sequences are shown for some obstacle patterns generated by using the genetic algorithm. The effectiveness of the proposed method are discussed." @default.
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• W2743452737 date "2009-01-01" @default.
• W2743452737 modified "2023-09-25" @default.
• W2743452737 title "J1201-3-5 Determination of Stepping Point Sequence for Walking Robot Based on Minimization of Moving Time and Energy Consumption" @default.
• W2743452737 doi "https://doi.org/10.1299/jsmemecjo.2009.7.0_323" @default.
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