Stochastic algorithm for automatic path planning of a humanoid robot

Authors

DOI:

https://doi.org/10.17981/ingecuc.14.1.2018.03

Keywords:

Humanoid Robots, Path Planning, Autonomous Robot

Abstract

Introduction: The incorporation of an autonomous learning system in robotics will allow the resolution of a large number of problems. One is the autonomous march of the humanoid robots due to its complexity in the great number of variables regarding this process.

Objective: Develop algorithms that generate autonomous paths in a humanoid robot with various degrees of freedom.

Methodology: The study begins with the development of stochastic algorithms with few dimensions. Then, it will be extended to n-dimensional situations. Afterward, simulation tests will be carried out. And finally, the experimental tests are performed.

Results: An algorithm was generated based on the physical model of the robot to create walking paths stochastically. A simulator that contemplates the kinematic constraints, including collisions, was implemented to verify the results. In addition, one hundred experimental tests were done. With these tests, the correct operation of the trajectories was verified.

Conclusions: It was verified that it is possible to create a stochastic algorithm that mixes determinant and random rules to automatically generate paths in humanoid robots, hence, extending concepts generated in two-dimensional and three-dimensional spaces to n-dimensional articulated coordinates.

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Author Biographies

Cristian Villate, Universidad de Pamplona. Pamplona (Colombia)

received the Mechatronic engineering degree from the Pamplona University, Pamplona, Colombia, in 2017. He has been a researcher of the SIARC-A&C (Research Group in Automation and Control) since 2015. http://orcid.org/0000-0002-5427-730X

Cesar Augusto Peña Cortes, Universidad de Pamplona. Pamplona (Colombia)

is currently a full professor in the Department of Mechanical, Mechatronics and Industrial Engineering at the University

of Pamplona (since 2004). He is part of the Automation and Control research group. He holds a PhD in Automation and Robotics from the Universidad Politécnica de Madrid, Spain (2006). He has a Master’s degree in Electronics and Computer Engineering from the Universidad de los Andes, Colombia (2003) and a professional degree as an Electromechanical Engineer from the Pedagogical and Technological University of Colombia (2001). His research topics revolve around service robots, artificial vision and neurosignals, in which he has several publications in journals and congresses lectures. https://orcid.org/0000-0003-4148-2168

Oscar Eduardo Gualdron Guerrero, Universidad de Pamplona. Pamplona (Colombia)

received his PhD degree in Electronic Engineering from the Rovira I Virgili university, Tarragona, Spain (2006). He is currently the research manager at the University of Pamplona and a full professor in the Department of Electronic Engineering (since 2007). He is part of the Automation and Control research group and the Multisensorial System research group. https://orcid.org/0000-0002-7854-6842

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INGE CUC Vol. 14 no. 1

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Published

2018-01-01

How to Cite

Villate, C., Peña Cortes, C. A., & Gualdron Guerrero, O. E. (2018). Stochastic algorithm for automatic path planning of a humanoid robot. INGE CUC, 14(1), 30–40. https://doi.org/10.17981/ingecuc.14.1.2018.03

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Vol. 14 No. 1 (2018): (January - June)

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