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- W846486439 abstract "In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot." @default.
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- W846486439 date "2009-01-01" @default.
- W846486439 modified "2023-09-24" @default.
- W846486439 title "Optimal Trajectory Generation for Walking Up a Staircase of a Biped Robot Using Genetic Algorithm" @default.
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