301 2足歩行ロボットの走行時における脚部形状の最適化
詳細
In recent years, many researches of the biped robot for living side-by-side with people are reported. However, although many researches on a walking situation are reported, there is little research on the running situation. Therefore, we optimize the foot orbit of a biped robot using APGA (Adaptive Plan system with Genetic Algorithm). This optimization problem is tried by maximization of a reaching distance in the limit time, and its result is reported.
