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Pareto design of state feedback tracking control of a biped robot via multiobjective PSO in comparison with sigma method and genetic algorithms: modified NSGAII and MATLAB's toolbox.

Mahmoodabadi MJ, Taherkhorsandi M, Bagheri A - ScientificWorldJournal (2014)

Bottom Line: An optimal robust state feedback tracking controller is introduced to control a biped robot.Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort.Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.

View Article: PubMed Central - PubMed

Affiliation: Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran.

ABSTRACT
An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.

Show MeSH
The parameters of the robot based on the anthropometric table.
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Related In: Results  -  Collection


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fig1: The parameters of the robot based on the anthropometric table.

Mentions: In the present study, a biped robot is walking in the lateral plane on slope [50]. To model this robot, a three-link planar is used according to Figure 1. The first link represents the stance leg on the ground, the second link signifies the head, arms, and trunk, and the third link is the swing leg. In fact, those links move freely in the lateral plane. The parameters of the biped robot are obtained from Table 1 for a humanoid robot having 171 (cm) height and 74 (kg) weight [53]. The distance between two legs of the model (2d2) equals 32.7 (cm).


Pareto design of state feedback tracking control of a biped robot via multiobjective PSO in comparison with sigma method and genetic algorithms: modified NSGAII and MATLAB's toolbox.

Mahmoodabadi MJ, Taherkhorsandi M, Bagheri A - ScientificWorldJournal (2014)

The parameters of the robot based on the anthropometric table.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC3927564&req=5

fig1: The parameters of the robot based on the anthropometric table.
Mentions: In the present study, a biped robot is walking in the lateral plane on slope [50]. To model this robot, a three-link planar is used according to Figure 1. The first link represents the stance leg on the ground, the second link signifies the head, arms, and trunk, and the third link is the swing leg. In fact, those links move freely in the lateral plane. The parameters of the biped robot are obtained from Table 1 for a humanoid robot having 171 (cm) height and 74 (kg) weight [53]. The distance between two legs of the model (2d2) equals 32.7 (cm).

Bottom Line: An optimal robust state feedback tracking controller is introduced to control a biped robot.Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort.Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.

View Article: PubMed Central - PubMed

Affiliation: Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran.

ABSTRACT
An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.

Show MeSH