Abstract
This paper innovatively proposes a new multi-objective optimization method applied in robust walking with preset step-length of biped, using modified JAYA algorithm. The biped is structured with eleven links activated by ten joints. The hip and feet position and speed of biped are determined based on the inverse kinematics. Two objectives related to the stability of biped in walking and to follow the preset step-length value have been satisfactorily investigated, and Pareto optimum front of resolutions has been attained. As to demonstrate the effectiveness of proposed MO-JAYA, it takes comparative results with MO-PSO and MO-NSGA-2. The simulation and experimental results investigated on the real biped system HUBOT-5 confirm that the proposed MO-JAYA ensures an effective and robust gait planning for biped with accurate step-length magnitude.
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Acknowledgments
This paper is funded by Vietnam National University of Ho Chi Minh City (VNU-HCM) under grant number B2020-20-04. We acknowledge the support of time and facilities from Ho Chi Minh City University of Technology (HCMUT), VNU-HCM for this study.
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Huan, T.T., Van Kien, C., Anh, H.P.H. (2021). Optimized Gait Planning of Biped Robot Using Multi-objective JAYA Algorithm. In: Huang, YP., Wang, WJ., Quoc, H.A., Giang, L.H., Hung, NL. (eds) Computational Intelligence Methods for Green Technology and Sustainable Development. GTSD 2020. Advances in Intelligent Systems and Computing, vol 1284. Springer, Cham. https://doi.org/10.1007/978-3-030-62324-1_16
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