Piao Songhao

Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm

In this paper, online gait control system is designed for walking-up-stairs movement according to the features of humanoid robot, the hybrid evolutionary approach based on neural network optimized by particle swarm is employed for the offline training of the movement process, and the optimal gait of the stability is generated. Additionally, through embedded monocular vision, on-site environmental information is collected as neural network input, so necessary joint trajectory is output for the movement. Simulations and experiment testify the efficiency of the method.

Application and Research of Humanoid Robot Based on Second-Order Cone Programming

It is an extremely complex process of controlling walking motion for humanoid robot, and its dynamics model has many rich features. The article puts forward a kind of optimization design method on any time humanoid robot walking movement. Firstly, this article makes a stability analysis of walking humanoid robot based on the ZMP criterion, at the same time with the design of using a humanoid robot walking movement by the criterion of the error between the expectations and kinetic energy of the weighted kinetic minimum norm make the problem into a second-order cone programming (SOCP) optimization problem, then use the interior point method to solve the kinetic energy of optimization coefficient of the humanoid robot walking movement, and by compares with the LMS design method and genetic algorithms, finally the algorithm is validated in the simulation and experiment, the numerical results are present for illustration.

Multi-agent cooperation pursuit based on an extension of AALAADIN organisational model

An approach of cooperative pursuit for multiple mobile targets based on multi-agents system is discussed. In this kind of problem the pursuit process is divided into two kinds of tasks. The first one (coalition problem) is designed to solve the problem of the pursuit team formation. To achieve this mission, we used an innovative method based on a dynamic organisation and reorganisation of the pursuers’ groups. We introduce our coalition strategy extended from the organisational agent, group, role model by assigning an access mechanism to the groups inspired by fuzzy logic principles. The second task (motion problem) is the treatment of the pursuers’ motion strategy. To manage this problem we applied the principles of the Markov decision process. Simulation results show the feasibility and validity of the given proposal.

Autonomous navigation based on the velocity space method in dynamic environments

We present a new local obstacle avoidance approach for mobile robots in partially known environments on the basis of the curvature-velocity method (CVM), the lane-curvature method (LCM) and the beam-curvature method (BCM). Not only does this method inherit the advantages from both BCM and LCM, but also it combines the prediction model of collision with BCM perfectly so that the so-called prediction based BCM (PBCM) comes into being and can be used to avoid moving obstacles in dynamic environments.We present a new local obstacle avoidance approach for mobile robots in partially known environments on the basis of the curvature-velocity method (CVM), the lane-curvature method (LCM) and the beam-curvature method (BCM). Not only does this method inherit the advantages from both BCM and LCM, but also it combines the prediction model of collision with BCM perfectly so that the so-called prediction based BCM (PBCM) comes into being and can be used to avoid moving obstacles in dynamic environments.

Design and implementation of humanoid robot HIT-2

To meet the demands of game and entertainment, autonomous humanoid robot HIT-2 is designed. Firstly, system structure of the robot is introduced. Then methods of image processing and algorithms for localization based on embedded vision system are presented. Finally, motion planning for penalty kick is carried out by the method of motion control combined with selective joints control.