Gait Planning Research for Biped Robot with Heterogeneous Legs

2020 ◽

Vol 17 (6) ◽

pp. 172988142097634

Author(s):

Huan Tran Thien ◽

Cao Van Kien ◽

Ho Pham Huy Anh

Keyword(s):

Inverse Kinematics ◽

Biped Robot ◽

Step Length ◽

Jaya Algorithm ◽

Kinetic Chain ◽

Biped Walking ◽

Gait Planning ◽

Multi Objective ◽

Simulation And Experiment ◽

Stable Gait

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 multi-objective 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 step-length value.

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Optimized Gait Planning of Biped Robot Using Multi-objective JAYA Algorithm

Advances in Intelligent Systems and Computing - Computational Intelligence Methods for Green Technology and Sustainable Development ◽

10.1007/978-3-030-62324-1_16 ◽

2020 ◽

pp. 178-190

Author(s):

Tran Thien Huan ◽

Cao Van Kien ◽

Ho Pham Huy Anh

Keyword(s):

Biped Robot ◽

Jaya Algorithm ◽

Gait Planning ◽

Multi Objective

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Particle Swarm Optimization Algorithm vs. Genetic Algorithm to Solve Multi-Objective Optimization Problem in Gait Planning of Biped Robot

Advances in Intelligent and Soft Computing - Proceedings of the International Conference on Information Systems Design and Intelligent Applications 2012 (INDIA 2012) held in Visakhapatnam, India, January 2012 ◽

10.1007/978-3-642-27443-5_65 ◽

2012 ◽

pp. 563-570 ◽

Cited By ~ 1

Author(s):

Rega Rajendra ◽

Dilip Kumar Pratihar

Keyword(s):

Genetic Algorithm ◽

Particle Swarm Optimization ◽

Optimization Algorithm ◽

Optimization Problem ◽

Particle Swarm Optimization Algorithm ◽

Particle Swarm ◽

Biped Robot ◽

Multi Objective Optimization ◽

Swarm Optimization ◽

Gait Planning

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Dynamic Humanoid Gait Simulation of Biped Robot Based on ADAMS

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.461.894 ◽

2013 ◽

Vol 461 ◽

pp. 894-902 ◽

Cited By ~ 1

Author(s):

Zhi Wei Yu ◽

Li Quan Wang ◽

Peng Wang ◽

Zhen Dong Dai

Keyword(s):

Lower Energy ◽

Simulated Data ◽

Biped Robot ◽

Structure Design ◽

Lower Limbs ◽

Parallel Connection ◽

Gait Simulation ◽

Gait Planning ◽

Motion Data ◽

Dynamical Characteristics

During the design of biped robot HEUBR_1, a new structure of tandem and parallel connection is used in lower-limbs, adding toe-joints to feet. In order to make sure the rationality of humanoid structure design and feasibility of the humanoid gait planning, we built the simulating model of biped robot HEUBR_1 by using software ADAMS. The simulating model of biped robot HEUBR_1 walked stably with toe-joints in fictitious surrounding, which used the motion data exported by humanoid gait planning. During humanoid gait simulation, the biped robot kinematic and dynamical characteristics were achieved. Simulation indicates that the structure of tandem and parallel connection is rational and the method of humanoid gait planning is feasible. Humanoid walking with toe-joints has the characteristic: balanced motion, lower energy and small impact on feet. Simulated data of steady walking will be used as reference for biped robot HEUBR_1 walking experiments.

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