GENETIC ALGORITHM FOR CONTROL DESIGN OF BIPED LOCOMOTION

Authors
Citation
My. Cheng et Cs. Lin, GENETIC ALGORITHM FOR CONTROL DESIGN OF BIPED LOCOMOTION, Journal of robotic systems, 14(5), 1997, pp. 365-373
Citations number
14
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Application, Chemistry & Engineering","Robotics & Automatic Control
Journal title
ISSN journal
07412223
Volume
14
Issue
5
Year of publication
1997
Pages
365 - 373
Database
ISI
SICI code
0741-2223(1997)14:5<365:GAFCDO>2.0.ZU;2-1
Abstract
Dynamic biped walking is a difficult control problem. The design invol ves that of the controller as well as the gait. A typical design proce dure involves tedious analysis, careful planning, and testing. The pro cedure is time consuming and the analysis is often based on some linea rized model. Selection of control parameters and nominal trajectory de termines the quality of control and in typical designs, some or all of the parameters are selected intuitively. The result is often not the best. If some special goal (such as to walk as fast as possible) is de sirable, the design may become even harder. While the analytical appro ach is not easy, one possible alternative is to obtain the optimal or near-optimal design through parameter search. This study explores this approach. The design of the biped controller and gait is formulated a s a parameter search problem, and a genetic algorithm is applied to he lp obtain the optimal design. Designs to achieve different goals, such as being able to walk on an inclined surface, walk at a high speed, o r walk with a specified step size have been evolved with the use of th e genetic algorithm. Simulation results show that the genetic algorith m (GA) is capable of finding good solutions. (C) 1997 John Wiley & Son s, Inc.