IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation
International Journal of Computer Applications, Volume abs/1212.1798, Issue 22, 2012.
This paper describes a new approach allowing the generation of a simplified Biped gait. This approach combines a classical dynamic modeling with an inverse kinematics' solver based on particle swarm optimization, PSO. First, an inverted pendulum, IP, is used to obtain a simplified dynamic model of the robot and to compute the target pos...更多