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Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search

Ameer Tamoor Khan, Shuai Li Orcid Logo, Xuefeng Zhou

IEEE Transactions on Circuits and Systems II: Express Briefs, Volume: 68, Issue: 10, Pages: 3276 - 3280

Swansea University Author: Shuai Li Orcid Logo

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Abstract

In this paper, we presented a framework for the trajectory optimization of the 5-link Biped Robot using the Beetle Antennae Search (BAS) algorithm. The biped robot is highly non-linear and has complex dynamical modeling. It is challenging to obtain a closed-form solution for the Robot. The robot mod...

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Published in: IEEE Transactions on Circuits and Systems II: Express Briefs
ISSN: 1549-7747 1558-3791
Published: Institute of Electrical and Electronics Engineers (IEEE) 2021
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa56468
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Abstract: In this paper, we presented a framework for the trajectory optimization of the 5-link Biped Robot using the Beetle Antennae Search (BAS) algorithm. The biped robot is highly non-linear and has complex dynamical modeling. It is challenging to obtain a closed-form solution for the Robot. The robot modeling has two stages, i.e., the optimal trajectory generation and the robust control of a robot. The conventional methodologies treat both problems separately and are computationally expensive. This paper presented an optimization problem that combines the trajectory generation and control problem of a 5-link biped robot. We employed Beetle Antennae Search (BAS) for the problem’s online-solution, an intelligent online optimization approach. BAS is a single-particle searching algorithm, which makes it robust, computationally, and memory-wise efficient. We applied BAS on two non-linear systems, i.e., inverted pendulum and 5-link biped robot, and convincing results are obtained with BAS.
College: College of Engineering
Issue: 10
Start Page: 3276
End Page: 3280