주입-이주형 PGA를 이용한 휴머노이드 로봇의 넘어짐 자세 개선

Abstract

This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a PGA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. Injection-migration PGA technique is introduced and compared with EMO and various migration topologies. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.