Performance Evaluation Of Biped Robot Optimal Gait Based On Genetic Algorithm

A Genetic Algorithm (GA) gait synthesis method for walking biped robots is considered in this paper. The walking occupy most of the time during the task performance, therefore its gait is analyzed based on the minimum consumed energy (CE) and minimum torque change (TC). The biped robot optimal gait is considered starting from static standing state and continuing with normal walking. The proposed method can be applied for wide ranges of step lengths and step times and for other tasks that might to be performed by humanoid robot. By using GA as an optimization tool it is easy to include constraints and add new variables to be optimized. The biped robot gait is generated without neglecting the stability, which is verified by the zero moment point ZMP concept. Simulations are realized based on the parameters of "Bonten-Maru I" humanoid robot. The evaluation by simulations shows that the proposed method has a good performance and energy is significantly reduced

Abel inversion of axially-symmetric shock wave flows

Finite-fringe interferograms produced for axisymmetric shock wave flows are analyzed by Fourier transform fringe analysis and an Abel inversion method to produce density field data for the validation of numerical models. For the Abel inversion process,

Interferometric measurement of density in nonstationary shock wave reflection flow and comparison with CFD

We present density measurements from the application of interferometry and Fourier transform fringe analysis to the problem of nonstationary shock wave reflection over a semicircular cylinder and compare our experimental measurements to theoretical results from a CFD simulation of the same problem. The experimental results demonstrate our ability to resolve detailed structure in this complex shock wave reflection problem, allowing visualization of multiple shocks in the vicinity of the triple point, plus visualization of the shear layer and an associated vortical structure. Comparison between CFD and experiment show significant discrepancies with experiment producing a double Mach Reflection when CFD predicts a transitional Mach reflection