• Analysis of double support phase of biped robot and multi-objective optimization using genetic algorithm and particle swarm optimization algorithm

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      https://www.ias.ac.in/article/fulltext/sadh/040/02/0549-0575

    • Keywords

       

      Optimal gait planning; genetic algorithm; particle swarm optimization.

    • Abstract

       

      This paper deals with multi-objective optimization in gait planning of a 7-dof biped robot during its double support phase, while ascending and descending some staircases. For determining dynamic balance margin of the robot in terms of zero-moment point, its double support phase has been assumed to be consisting of two single support phases on non-coincidental parallel surfaces. Thus, dynamic balance margin of the biped robot during its double support phase is obtained by using a virtual zero-moment point of the system. Moreover, a smooth transition from single to double support phases in a cycle is to be maintained for the walking robots. Two contrasting objectives, namely power consumption and dynamic balance margin have been considered during optimization. Pareto-optimal fronts of solutions are obtained using genetic algorithm and particle swarm optimization algorithm, separately. To the best of the authors' knowledge, it is the first attempt to solve multi-objective optimization problem in double support phase of a biped robot.

    • Author Affiliations

       

      Rega Rajendra1 Dilip Kumar Pratihar1

      1. Soft Computing Laboratory, Mechanical Engineering Department, Indian Institute of Technology, Kharagpur, Kharagpur 721 302, India
    • Dates

       

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