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Soft Computing for Problem Solving pp 355–364Cite as

Design of Near-Optimal Trajectories for the Biped Robot Using MCIWO Algorithm

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 816))

Abstract

The present research paper concentrates on the development of optimal trajectories for the foot, hip, and wrist of the biped robot while walking on a flat surface. Cubic polynomial equations are used for generating the foot and wrist trajectories in sagittal plane and hip trajectory in frontal plane. The coefficients of the polynomial trajectories are used as seeds of the invasive weed optimization algorithm. It is important to note that the determination of the boundary conditions of the polynomial equation is a difficult task. To overcome this problem, a new variation of the invasive weed optimization (IWO) algorithm, i.e., modified chaotic invasive weed optimization (MCIWO) algorithm, has been used. Further, the dynamic balance margin (DBM) values obtained in x- and y-directions are compared with the values obtained using the standard IWO algorithm.

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Author information

Authors and Affiliations

  1. School of Mechanical Sciences, IIT Bhubaneswar, Bhubaneswar, 751013, Odisha, India

    Ravi Kumar Mandava & Pandu R. Vundavilli

Authors
  1. Ravi Kumar Mandava
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  2. Pandu R. Vundavilli
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Corresponding author

Correspondence to Ravi Kumar Mandava .

Editor information

Editors and Affiliations

  1. Department of Mathematics, South Asian University New Delhi , New Delhi, India

    Jagdish Chand Bansal

  2. Department of Mathematics, National Institute Of Technology Silchar Department of Mathematics, Silchar, Assam, India

    Kedar Nath Das

  3. Department of Mathematics and Computer Science, Faculty of Science, , Liverpool Hope University, Liverpool, UK

    Atulya Nagar

  4. Department of Mathematics, Indian Institute of Technology Roor Department of Mathematics, Roorkee, Uttarakhand, India

    Kusum Deep

  5. School of Basic Sciences, Indian Institute of Technology Bhubanesw School of Basic Sciences, Bhubaneswar, Odisha, India

    Akshay Kumar Ojha

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Mandava, R.K., Vundavilli, P.R. (2019). Design of Near-Optimal Trajectories for the Biped Robot Using MCIWO Algorithm. In: Bansal, J., Das, K., Nagar, A., Deep, K., Ojha, A. (eds) Soft Computing for Problem Solving. Advances in Intelligent Systems and Computing, vol 816. Springer, Singapore. https://doi.org/10.1007/978-981-13-1592-3_27

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