Abstract
This paper deals with multi-objective optimization in gait planning of a 7-dof biped robot during its double support phase, while ascending and descending some staircases. For determining dynamic balance margin of the robot in terms of zero-moment point, its double support phase has been assumed to be consisting of two single support phases on non-coincidental parallel surfaces. Thus, dynamic balance margin of the biped robot during its double support phase is obtained by using a virtual zero-moment point of the system. Moreover, a smooth transition from single to double support phases in a cycle is to be maintained for the walking robots. Two contrasting objectives, namely power consumption and dynamic balance margin have been considered during optimization. Pareto-optimal fronts of solutions are obtained using genetic algorithm and particle swarm optimization algorithm, separately. To the best of the authors’ knowledge, it is the first attempt to solve multi-objective optimization problem in double support phase of a biped robot.
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Acknowledgements
The authors thank All India Council of Technical Education (AICTE), Govt. of India, for supporting this study and Mr. Ashutosh Kumar Misra, for providing some useful suggestions.
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Appendix A
Appendix A
1.1 Expressions for Joint Torques
The equations of n joint torques can be written as follows (Fu et al 1987):
where D i k denotes inertia terms, h i k m represents the Coriolis and centrifugal terms, and C i indicates information of the gravity terms.
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RAJENDRA, R., PRATIHAR, D.K. Analysis of double support phase of biped robot and multi-objective optimization using genetic algorithm and particle swarm optimization algorithm. Sadhana 40, 549–575 (2015). https://doi.org/10.1007/s12046-014-0327-5
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DOI: https://doi.org/10.1007/s12046-014-0327-5