퍼지와 유전알고리즘을 이용한 이족보행로봇의 장애물 회피에 관한 연구

초록

This paper presents the obstacle avoidance of a biped walking robot using GA-Fuzzy algorithm. In the case of our previous studies, the surface has been assumed to be flat. For the case of the environment with obstacles, however, the walking robot might be unnatural. Thus, we considered the surface contained obstacles that the robot can pass through. We propose the optimal leg trajectory data-base by using genetic algorithm and optimal leg trajectory movement about obstacles that exist in front of the robot using fuzzy approach. It is shown that the robot can move more naturally on the surface that contains obstacles.