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Realization of Gymnastic Movements on the Bar by Humanoid Robot Using a New Selfish Gene Algorithm

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Modelling and Implementation of Complex Systems

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 1))

Abstract

This paper proposes a new selfish gene algorithm called the Replaces and Never Penalizes Selfish Gene Algorithm (RNPSGA). This new variant of selfish gene algorithm replaces the alleles of the less fit individual by the alleles of the fittest rather than penalizing them. The intensification of the search is then increased. The proposed algorithm is tested under some famous benchmark functions and compared to the standard selfish gene algorithm. We analyzes also the quality of convergence, the accuracy, the stability and the processing time of the proposed algorithm. We design by Solidwork a new virtual model of the humanoid robot hanging on the bar. The model is controlled using Simscape/Matlab. The proposed algorithm is then applied to the designed humanoid robot. The objective is to realize the gymnastic movements on the bar. An intelligent LQR controller is proposed to stabilize the swing-up of the robot.

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Author information

Authors and Affiliations

  1. Laboratoire de Technologie Industrielle et de l’Information (LTII), Faculté de Technologie, Université de Bejaia, 06000, Bejaia, Algeria

    Lyes Tighzert & Boubekeur Mendil

Authors
  1. Lyes Tighzert
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  2. Boubekeur Mendil
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Corresponding author

Correspondence to Lyes Tighzert .

Editor information

Editors and Affiliations

  1. Faculty of New Informationand Commu Tech, University of Constantine2, Constantine, Algeria

    Salim Chikhi

  2. Fac ofTechn, GeCoDe Laboratory, University of Saida, Saida, Algeria

    Abdelmalek Amine

  3. Faculty of New Info& Commun Tech, University of Constantine2, Constantine, Algeria

    Allaoua Chaoui

  4. Faculty of Sci & Tech,Dept of maths & CS, University of El Oued, El-Oued,, Algeria

    Mohamed Khireddine Kholladi

  5. Faculty of New Informationand Com Tech, University of Constantine2, Constantine, Algeria

    Djamel Eddine Saidouni

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© 2016 Springer International Publishing Switzerland

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Tighzert, L., Mendil, B. (2016). Realization of Gymnastic Movements on the Bar by Humanoid Robot Using a New Selfish Gene Algorithm. In: Chikhi, S., Amine, A., Chaoui, A., Kholladi, M., Saidouni, D. (eds) Modelling and Implementation of Complex Systems. Lecture Notes in Networks and Systems, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-33410-3_4

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  • DOI: https://doi.org/10.1007/978-3-319-33410-3_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33409-7

  • Online ISBN: 978-3-319-33410-3

  • eBook Packages: EngineeringEngineering (R0)

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