Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search

Abstract

In this paper, we presented a framework for the trajectory optimization of the 5-link Biped Robot using the Beetle Antennae Search (BAS) algorithm. The biped robot is highly nonlinear and has complex dynamical modeling. It is challenging to obtain a closed-form solution for the Robot. The robot modeling has two stages, i.e., the optimal trajectory generation and the robust control of a robot. The conventional methodologies treat both problems separately and are computationally expensive. This paper presented an optimization problem that combines the trajectory generation and control problem of a 5-link biped robot. We employed Beetle Antennae Search (BAS) for the problem's online-solution, an intelligent online optimization approach. BAS is a single-particle searching algorithm, which makes it robust, computationally, and memory-wise efficient. We applied BAS on two non-linear systems, i.e., inverted pendulum and 5-link biped robot, and convincing results are obtained with BAS.

Constrained Trajectory Tracking Control of a Mobile Robot by Limited Integrator Anti-Windup

“…The main difficulty in the implementation of the proposed control method was to find a lower bound for the gain k awi so that the condition ( 16) is satisfied, since it involves the computation of the constant k 0 i (see Property 2) and an upper bound on |ν di (t)| (see inequality (12)). Further research includes developing LIAW-based controllers for more complex systems as the ones addressed in [20], [21], [22] and [23]. In addition, real-time experiments will be carried out in order to investigate the robustness of the technique.…”

“…△ By using the definition w i (t) = ν di (t) + ξ i (t), and the fact that ν di (t) is bounded by Assumption 1, the limit (23) implies that the integrator signal ξ i (t) can either converge to or stay into the bound |ν di (t) + ξ i (t)| ≤ u max i − ǫ, thus preventing windup and matching the rationale behind the motivation of the LIAW technique given in [11] and [12].…”

Median-Based Resilient Consensus Over Time-Varying Random Networks

“…In some real-world applications involving complicated environment such as smart homes, heuristic algorithms and metaheuristic algorithms have also been widely applied to tackle cooperative control problems in complex nonlinear systems against adversarial hazards or obstacles; see e.g. [15]- [17].…”

Low‐cost 3D‐Printed smart robotic system for distance signature and authentication

“…In a variety of industrial and domestic uses, autonomous robots play a critical role. Factories, power plants, chemical, and agriculture industries, as well as locomotive industries all, implement these robots 1–4 . For example, Beetle antennae search for human‐guided cooperative robotic agents in the smart home is presented by Khan and Li 2 .…”