International Journal of Computational Intelligence Systems

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Volume 13, Issue 1, 2020, Pages 382 - 399

Optimal Walking Gait Generator for Biped Robot Using Modified Jaya Optimization Technique

Authors
Ho Pham Huy Anh1, *, Tran Thien Huan2
1Faculty of Electrical and Electronics Engineering (FEEE), HCM City University of Technology, VNU-HCM, Ho Chi Minh City, Vietnam
2Faculty of Applied Sciences (FAS), HCM City University of Technology and Education, Ho Chi Minh City, Vietnam
*Corresponding author. Email: hophamhuyanh@hotmail.com
Corresponding Author
Ho Pham Huy Anh
Received 23 September 2019, Accepted 3 March 2020, Available Online 3 April 2020.
DOI
10.2991/ijcis.d.200323.001How to use a DOI?
Keywords
Uncertain nonlinear biped robot system; Genetic Algorithm (GA); Particle Swarm Optimization (PSO); Jaya optimization algorithm; Central Force Optimization (CFO) algorithm; Modified Differential Evolution (MDE) algorithm; Gait optimization for biped robot; Zero moment point (ZMP) concept
Abstract

This paper treats the optimization of the biped walking trajectory that can be used as a reference trajectory for control. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is derived for the specified positions of the hips and feet. The objective is to optimize the biped robot able to stably and naturally walking with preset foot-lift magnitude (or preset hip-shift, or preset step-length). The stability of the biped robot is quantified by the distance between the ZMP and the foot center in the step cycle, which represents the first objective function. Additionally, for the biped robot to follow the preset foot-lift value, the difference between the magnitude of foot-lift value and the foot-lift preset value represents the second objective function. Specifically, we minimize the value of the two objective functions by considering the gait parameters of biped robot as variables. The new Jaya optimization algorithm is innovatively applied to optimize the biped gait parameters as to ensure the biped robot walking robustly and steadily. The efficiency of the proposed Jaya-based identification method is compared with the Genetic Algorithm (GA), the Particle Swarm Optimization (PSO), the Central Force Optimization (CFO) and improved Differential Evolution (DE) [Modified Differential Evolution (MDE)] algorithms. The simulation results tested on the real small-sized biped robot system HUBOT-4 demonstrate that the novel proposed algorithm offers an efficient and stable gait for biped robot with precise foot-lift value.

Copyright
© 2020 The Authors. Published by Atlantis Press SARL.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

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<Previous Article In Issue
Next Article In Issue>
Journal
International Journal of Computational Intelligence Systems
Volume-Issue
13 - 1
Pages
382 - 399
Publication Date
2020/04/03
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.2991/ijcis.d.200323.001How to use a DOI?
Copyright
© 2020 The Authors. Published by Atlantis Press SARL.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Ho Pham Huy Anh
AU  - Tran Thien Huan
PY  - 2020
DA  - 2020/04/03
TI  - Optimal Walking Gait Generator for Biped Robot Using Modified Jaya Optimization Technique
JO  - International Journal of Computational Intelligence Systems
SP  - 382
EP  - 399
VL  - 13
IS  - 1
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.d.200323.001
DO  - 10.2991/ijcis.d.200323.001
ID  - Anh2020
ER  -