Journal article 721 views
Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
,
Xuefeng Zhou
IEEE Transactions on Circuits and Systems II: Express Briefs, Volume: 68, Issue: 10, Pages: 3276 - 3280
Swansea University Author:
Shuai Li
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DOI (Published version): 10.1109/tcsii.2021.3062639
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...
| Published in: | IEEE Transactions on Circuits and Systems II: Express Briefs |
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| ISSN: | 1549-7747 1558-3791 |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: |
Check full text
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| 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. |
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| College: |
Faculty of Science and Engineering |
| Issue: |
10 |
| Start Page: |
3276 |
| End Page: |
3280 |