Implementation of evolutionary active force control in a 5-link biped robot

Kwek,, LC and Wong, , EK and Loo, , CK and Kang, CC, CC (2005) Implementation of evolutionary active force control in a 5-link biped robot. INTELLIGENT AUTOMATION AND SOFT COMPUTING, 11 (3). pp. 167-178. ISSN 1079-8587

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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.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75.5-76.95 Electronic computers. Computer science
Divisions: Faculty of Engineering and Technology (FET)
Depositing User: Ms Rosnani Abd Wahab
Date Deposited: 24 Aug 2011 02:09
Last Modified: 24 Aug 2011 02:09
URI: http://shdl.mmu.edu.my/id/eprint/2324

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