Implementation of evolutionary active force control in a 5-link biped robot
Document Type
Article
Publication Date
1-1-2005
Abstract
In this paper, the application of Active Force Control (AFC) incorporated with a conventional Proportional-Derivative (PD) controller to a five-link biped robot has been studied and simulated. The efficacy and robustness of the AFC strategy in suppressing external disturbances was examined on a model using Crude Approximation (CA) method. However, the task of tuning the PD controller parameters and the inertia matrix coefficient is tedious and time-consuming. Thus, an evolutionary strategy - Differential Evolution (DE) has been proposed in order to tune automatically the parameter gains in a systematic approach. The effectiveness of the proposed method is investigated, and it is found that the system is robust and stable even under influence of disturbances
Keywords
Active Force Control, Biped, Crude Approximation, Differential Evolution, Proportional-Derivative Control
Divisions
ai
Publication Title
Intelligent Automation and Soft Computing
Volume
11
Issue
3