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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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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...

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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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first_indexed 2021-03-18T10:15:26Z
last_indexed 2021-09-28T03:20:31Z
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spelling v2 56468 2021-03-18 Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2021-03-18 MECH 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. Journal Article IEEE Transactions on Circuits and Systems II: Express Briefs 68 10 3276 3280 Institute of Electrical and Electronics Engineers (IEEE) 1549-7747 1558-3791 1 10 2021 2021-10-01 10.1109/tcsii.2021.3062639 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University 2023-11-30T15:31:55.1423800 2021-03-18T10:13:54.2630327 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Ameer Tamoor Khan 1 Shuai Li 0000-0001-8316-5289 2 Xuefeng Zhou 3
title Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
spellingShingle Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
Shuai Li
title_short Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
title_full Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
title_fullStr Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
title_full_unstemmed Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
title_sort Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Ameer Tamoor Khan
Shuai Li
Xuefeng Zhou
format Journal article
container_title IEEE Transactions on Circuits and Systems II: Express Briefs
container_volume 68
container_issue 10
container_start_page 3276
publishDate 2021
institution Swansea University
issn 1549-7747
1558-3791
doi_str_mv 10.1109/tcsii.2021.3062639
publisher Institute of Electrical and Electronics Engineers (IEEE)
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 0
active_str 0
description 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.
published_date 2021-10-01T15:31:55Z
_version_ 1784003497520267264
score 11.036006

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