Ấn phẩm:
Advanced biped gait generator using narx mlp neural model optimized by enhanced evolutionary algorithm
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Tóm tắt
A novel biped walking pattern combining robust zero-moment-point ZMP technique and pre-determined foot-lifting value is proposed in this paper. The implementation of suggested approach contains following stages. Initially, a one-step ZMP curve for a small-sized humanoid is created using the 3rd-order interpolating equation, with pre-determined velocity responding the ZMP concept. The next step, biped gait planning is modeled as a non-linear MIMO plant including ten degree-of-freedom DOF. Then, the installation of a biped walking pattern generator (WPG) based on the new hybrid Neural-NARX model is completed. Eventually, the novel Enhanced Differential Evolution (EDE) technique is applied to optimally identify the weights of the hybrid NeuralNARX structure, for ensuring robust robot walking in terms of desired ZMP trajectories and pre-determined foot-lifting value. All case studies confirm that it is surely provide a biped WPG satisfying both of the effectiveness and high robustness. The verification of the newly proposed WPG is adequately tested via both simulation and experiment results.
Mô tả
Vietnam Journal of Mechanics, Vol. 44, No. 3
Tác giả
Tran, Thien Huan
Ho, Pham Huy Anh
Người hướng dẫn
Nơi xuất bản
Nhà xuất bản
Viện Cơ học, Viện Hàn lâm Khoa học và Công nghệ Việt Nam
Năm xuất bản
2022-09
ISSN tạp chí
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Từ khóa chủ đề
Small-sized biped , Walking pattern generator , Nonlinear Auto-Regressive eXogenous (NARX) model , Enhanced Differential Evolution (EDE) optimization technique , Zero-moment-point (ZMP) concept