Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

International Journal of Advanced Robotic Systems

article

Huan Tran Thien¹  Cao Van Kien²  Ho Pham Huy Anh³ 

[1] Faculty of Applied Sciences (FAS), HCM City University of Technology and Education;Faculty of Electronics Technology, Industrial University of Ho Chi Minh City;Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh City University of Technology (HCMUT);Vietnam National University Ho Chi Minh City

关键词: Humanoid stable and robust walking;    walking pattern generator (WPG);    multi-objective (MO) optimization method;    MO-NSGA-2;    MO-PSO;    MO-JAYA optimization algorithm;    Pareto optimal front;   

DOI  :  10.1177/1729881420976344

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multiobjective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset steplength value.

【 授权许可】

CC BY