著者

平野 智之 NGOC Pham Hieu 長谷川 浩志

出版者

一般社団法人日本機械学会

雑誌

最適化シンポジウム講演論文集

巻号頁・発行日

vol.2010, no.9, pp."301-1"-"301-2", 2010-12-09

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In recent years, many researches of the biped robot for living side-by-side with people are reported. However, although many researches on a walking situation are reported, there is little research on the running situation. Therefore, we optimize the foot orbit of a biped robot using APGA (Adaptive Plan system with Genetic Algorithm). This optimization problem is tried by maximization of a reaching distance in the limit time, and its result is reported.