Optimal nature-walking gait for humanoid robot using Jaya optimization algorithm
This article proposes a new method used to optimize the design process of nature-walking gait generator that permits biped robot to stably and naturally walk with preset foot-lift magnitude. The new Jaya optimization algorithm is innovatively applied to optimize the biped gait four key parameters in...
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2019-11-01
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Series: | Advances in Mechanical Engineering |
Online Access: | https://doi.org/10.1177/1687814019888082 |
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doaj-88a150e752d94ce4bf062259c7c4f7662020-11-25T03:36:31ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402019-11-011110.1177/1687814019888082Optimal nature-walking gait for humanoid robot using Jaya optimization algorithmTran Thien Huan0Ho Pham Huy Anh1Cao Van Kien2Department of Mechanics, Faculty of Civil Engineering, HCM City University of Technology and Education (HCM-UTE), Ho Chi Minh City, VietnamFaculty of Electrical and Electronics Engineering (FEEE), HCM City University of Technology, Vietnam National University Ho Chi Minh City (VNU-HCM), Ho Chi Minh City, VietnamFaculty of Electrical and Electronics Engineering (FEEE), HCM City University of Technology, Vietnam National University Ho Chi Minh City (VNU-HCM), Ho Chi Minh City, VietnamThis article proposes a new method used to optimize the design process of nature-walking gait generator that permits biped robot to stably and naturally walk with preset foot-lift magnitude. The new Jaya optimization algorithm is innovatively applied to optimize the biped gait four key parameters initiatively applied to ensure the uncertain nonlinear humanoid robot walks robustly and steadily. The efficiency of the proposed Jaya-based identification approach is compared with the central force optimization and improved differential evolution (modified differential evolution) algorithms. The simulation and experimental results tested on the original small-sized biped robot HUBOT-4 convincingly demonstrate that the novel proposed algorithm offers an efficient and stable gait for humanoid robots with precise height of foot-lift value.https://doi.org/10.1177/1687814019888082 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Tran Thien Huan Ho Pham Huy Anh Cao Van Kien |
spellingShingle |
Tran Thien Huan Ho Pham Huy Anh Cao Van Kien Optimal nature-walking gait for humanoid robot using Jaya optimization algorithm Advances in Mechanical Engineering |
author_facet |
Tran Thien Huan Ho Pham Huy Anh Cao Van Kien |
author_sort |
Tran Thien Huan |
title |
Optimal nature-walking gait for humanoid robot using Jaya optimization algorithm |
title_short |
Optimal nature-walking gait for humanoid robot using Jaya optimization algorithm |
title_full |
Optimal nature-walking gait for humanoid robot using Jaya optimization algorithm |
title_fullStr |
Optimal nature-walking gait for humanoid robot using Jaya optimization algorithm |
title_full_unstemmed |
Optimal nature-walking gait for humanoid robot using Jaya optimization algorithm |
title_sort |
optimal nature-walking gait for humanoid robot using jaya optimization algorithm |
publisher |
SAGE Publishing |
series |
Advances in Mechanical Engineering |
issn |
1687-8140 |
publishDate |
2019-11-01 |
description |
This article proposes a new method used to optimize the design process of nature-walking gait generator that permits biped robot to stably and naturally walk with preset foot-lift magnitude. The new Jaya optimization algorithm is innovatively applied to optimize the biped gait four key parameters initiatively applied to ensure the uncertain nonlinear humanoid robot walks robustly and steadily. The efficiency of the proposed Jaya-based identification approach is compared with the central force optimization and improved differential evolution (modified differential evolution) algorithms. The simulation and experimental results tested on the original small-sized biped robot HUBOT-4 convincingly demonstrate that the novel proposed algorithm offers an efficient and stable gait for humanoid robots with precise height of foot-lift value. |
url |
https://doi.org/10.1177/1687814019888082 |
work_keys_str_mv |
AT tranthienhuan optimalnaturewalkinggaitforhumanoidrobotusingjayaoptimizationalgorithm AT hophamhuyanh optimalnaturewalkinggaitforhumanoidrobotusingjayaoptimizationalgorithm AT caovankien optimalnaturewalkinggaitforhumanoidrobotusingjayaoptimizationalgorithm |
_version_ |
1724549612769902592 |