Implementation of evolutionary active force control in a 5-link biped robot
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 mode...
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| Format: | Article |
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2005
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| author | Kwek, L.C. Kang, C.C. Loo, C.K. Wong, E.K. |
| author_facet | Kwek, L.C. Kang, C.C. Loo, C.K. Wong, E.K. |
| author_sort | Kwek, L.C. |
| collection | UM |
| description | 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 |
| first_indexed | 2024-03-06T05:13:42Z |
| format | Article |
| id | um.eprints-5171 |
| institution | Universiti Malaya |
| last_indexed | 2024-03-06T05:13:42Z |
| publishDate | 2005 |
| record_format | dspace |
| spelling | um.eprints-51712013-03-19T01:18:09Z http://eprints.um.edu.my/5171/ Implementation of evolutionary active force control in a 5-link biped robot Kwek, L.C. Kang, C.C. Loo, C.K. Wong, E.K. T Technology (General) 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 2005 Article PeerReviewed Kwek, L.C. and Kang, C.C. and Loo, C.K. and Wong, E.K. (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, http://www.scopus.com/record/display.url?eid=2-s2.0-28644446367&origin=resultslist&sort=plf-f&src=s&st1=Implementation+of+Evolutionary+Active+Force+Control+in+a+5-Link+Biped+Robot&sid=RoAWftxc7NzOtzOZZnaFH_j%3a30&sot=b&sdt=b&sl=90&s=TITLE-ABS-KEY%28Implem |
| spellingShingle | T Technology (General) Kwek, L.C. Kang, C.C. Loo, C.K. Wong, E.K. Implementation of evolutionary active force control in a 5-link biped robot |
| title | Implementation of evolutionary active force control in a 5-link biped robot |
| title_full | Implementation of evolutionary active force control in a 5-link biped robot |
| title_fullStr | Implementation of evolutionary active force control in a 5-link biped robot |
| title_full_unstemmed | Implementation of evolutionary active force control in a 5-link biped robot |
| title_short | Implementation of evolutionary active force control in a 5-link biped robot |
| title_sort | implementation of evolutionary active force control in a 5 link biped robot |
| topic | T Technology (General) |
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