TY - EJOUR
AU - Tabrizizadeh, Alireza
AU - Bahrami, Fariba
AU - Yazdanpanah, Mohammad Javad
PY - 2024
DA - February
TI - Bipedal Robot Locomotion on a Terrain with Pitfalls
T2 - Majlesi Journal of Electrical Engineering
VL - 8
L1 - https://oiccpress.com/Majlesi-Journal-of-Electrical-Engineering/article/bipedal-robot-locomotion-on-a-terrain-with-pitfalls/
N2 - In this paper a locomotion control system for bipedal robot is proposed to provide desirable walking on a terrain and skipping over a pitfall preventing the robot from falling in it.The proposed strategy is a combination of motion optimization based on particle swarm optimization algorithm and utilization of mode switching at  a higher level controller.The model for biped robot is a compass gait model but the method presented is general and could be appropriatly extended and generalized for other complicated models.
IS - 4
PB - OICC Press
KW - Particle swarm optimization, Bipedal Robot Locomotion, Central Pattern Generator, Switching Controller. Compass Gait Model 
EN -