2020
Three-Dimensional Posture Optimization for Biped Robot Stepping over Large Ditch Based on a Ducted-Fan Propulsion System
IROS 2020poster
The recent progress of an ongoing project utilizing a ducted-fan propulsion system to improve a humanoid robot's ability to step over large ditches is reported. A novel method (GAS) based on the genetic algorithm with smoothness constraint can effectively minimize the thrust by optimizing the robot'…