Three-dimensional posture optimization for biped robot stepping over large ditch based on a ducted-fan propulsion system
Paper in proceeding, 2020

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's posture during 3D stepping. The significant advantage of the method is that it can realize the continuity and smoothness of the thrust and pelvis trajectories. The method enables the landing point of the robot's swing foot to be not only in the forward but also in a side direction. The methods were evaluated by simulation and by being applied on a prototype robot, JetHR1. By keeping a quasistatic balance, the robot could step over a ditch with a span of 450 mm (as much as 97% of the length of the robot's leg) in 3D stepping.


Zhifeng Huang

Guangdong University of Technology

Zijun Wang

Guangdong University of Technology

Jiapeng Wei

Guangdong University of Technology

Jingtao Yu

Guangdong University of Technology

Yuhao Zhou

Guangdong University of Technology

Pihao Lao

Guangdong University of Technology

Xiaoliang Huang

Chalmers, Electrical Engineering, Electric Power Engineering, Electrical Machines and Power Electronics

Xuexi Zhang

Guangdong University of Technology

Yun Zhang

Guangdong University of Technology

IEEE International Conference on Intelligent Robots and Systems

21530858 (ISSN) 21530866 (eISSN)

3591-3597 9340714
9781728162126 (ISBN)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Las Vegas, USA,

Subject Categories


Control Engineering

Computer Vision and Robotics (Autonomous Systems)



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