Gait Generation And Optimizationusing The Estimation Of Distribution algorithm For Teensize Humanoid soccer Robot Resr-1

摘要

This paper gives an overview of locomotion planning and control of a TeenSize humanoid soccer robot, Robo-Erectus Senior (RESr-1), which has been developed as an experimental platform for human-robot interaction and cooperative research in general and robotics soccer games in particular. The locomotion planning and control, along with an introduction of hierarchical control architecture, vision-based behavior and its application in the Humanoid TeenSize soccer challenge, are elaborated. The Estimation of Distribution Algorithm (EDA) is used in locomotion generation and optimization to achieves dynamically stable walk and a powerful kick. By setting different objective functions, smooth walking and powerful kicking can be generated quickly. RESr-1 made its debut at RoboCup 2007, and got fourth place in the Humanoid TeenSize penalty kick competition. In addition, some experimental results on RESr-1's walking, tracking and kicking are presented.