tailieunhanh - Comparative stable walking gait optimization for small sized biped robot using meta heuristic optimization algorithms

This paper proposes a new way to optimize the biped walking gait design for biped robots that permits stable and robust stepping with pre-set foot lifting magnitude. The new meta-heuristic CFO-Central Force Optimization algorithm is initiatively applied to optimize the biped gait parameters as to ensure to keep biped robot walking robustly and steadily. | Vietnam Journal of Mechanics, VAST, Vol. 40, No. 4 (2018), pp. 407 – 424 DOI: COMPARATIVE STABLE WALKING GAIT OPTIMIZATION FOR SMALL-SIZED BIPED ROBOT USING META-HEURISTIC OPTIMIZATION ALGORITHMS 1 Tran Thien Huan1 , Ho Pham Huy Anh2,∗ Ho Chi Minh City University of Technology and Education (HCM-UTE), Vietnam 2 Ho Chi Minh City University of Technology, VNU-HCM, Vietnam ∗ E-mail: hphanh@ Received April 19, 2018 Abstract. This paper proposes a new way to optimize the biped walking gait design for biped robots that permits stable and robust stepping with pre-set foot lifting magnitude. The new meta-heuristic CFO-Central Force Optimization algorithm is initiatively applied to optimize the biped gait parameters as to ensure to keep biped robot walking robustly and steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and Modified Differential Evolution algorithm (MDE). The simulated and experimental results carried on the prototype small-sized humanoid robot demonstrate that the novel meta-heuristic CFO algorithm offers an efficient and stable walking gait for biped robots with respect to a pre-set of foot-lift height value. Keywords: biped robot, meta-heuristic optimization algorithm, Central Force Optimization (CFO) algorithm. 1. INTRODUCTION The walking gesture of human up to now still contains many such sophisticated concepts that the humanoid robot can not fully demonstrate. Thus the research for biped robot walking mechanism is being developed in different directions. Several standards have been applied to human robots to ensure stable and natural gait. Static walking is the first applied principle, in which the vertical projection of center of mass (COM) of the ground is always in the supporting foot. In other words, humanoid robots can stop at any times when walking without falling apart. By its very nature, this principle applies to .