Comparative stable walking gait optimization for small-sized biped robot using meta-heuristic optimization algorithms

Abstract

This paper proposes a new way to optimize the biped walking gait design for biped robots that permits stable and robust stepping with pre-set foot lifting magnitude. The new meta-heuristic CFO-Central Force Optimization algorithm is initiatively applied to optimize the biped gait parameters as to ensure to keep biped robot walking robustly and steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and Modified Differential Evolution algorithm (MDE). The simulated and experimental results carried on the prototype small-sized humanoid robot demonstrate that the novel meta-heuristic CFO algorithm offers an efficient and stable walking gait for biped robots with respect to a pre-set of foot-lift height value.

Advanced biped gait generator using NARX-MLP neural model optimized by enhanced evolutionary algorithm

“…4. Hence three selected curves P 1 , P 5 , P 10 can be considered as ideal sinus shape, and then completely shown as follows, (developed from [18]).…”

“…The 10 joint-angular curves located at two humanoid legs in 1-step stepping duration show possible to be expressed using only P 1 = [P 1x , P 1y , P 1z ], P 5 = [P 5x , P 5y , P 5z ] and P 10 = [P 10x , P 10y , P 10z ] based on the inverse trigonometric humanoid equations. Then the pseudo-kinetic technique exploiting humanoid joint-rotating values is used, and shown at (4), in which x l , y l , z l , x r , y r , z r , l l , l r , θ A , θ B , θ C , θ D represent kinetic parameters of humanoid (consulted more in [18]).…”

“…with m i represents the ith link mass; (P xi , P yi , P zi ) denotes the i th link coordinates center; g is the gravitational acceleration; Pxi and Pyi denote the i th link accelerating values in xand y-profile; (x ZMP , y ZMP ) represent the ZMP values. The joint position, P i = (P ix , P yi , P zi ), be determined via humanoid joint-angular values (θ 1 , θ 2 , θ 3 , θ 4 , θ 5 , θ 6 , θ 7 , θ 8 , θ 9 , θ 10 ) in each 1-step duration (developed under [18]). Moreover the link speed Ṗi (t) and acceleration Pi (t) values can be calculated via P i (t).…”

Experiments and optimization for the WEDM process: A trade-off analysis between surface quality and production rate

“…Consequently, it is unnecessary to present in this work. Many former investigators have indicated that the MOPSO is a prominent solution to achieve a reliable global point [17,22,23]. The implementations of the RBF models and the MOPSO are performed using the Isight 5.8 software.…”