Using PSO for a walk of a biped robot

•This is a model of a biped robot's walk in 3D simulation.•A strategy based on an evolution method, which is particle swarm optimization, was developed.•The biped presented has ten degrees of freedom on ten articulations between seven links.•This work invokes also the direct kinematics principa...

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Bibliographic Details
Published in:Journal of computational science 2014-09, Vol.5 (5), p.743-749
Main Authors: Kherici, Nada, Mohamed Ben Ali, Yamina
Format: Article
Language:English
Subjects:
Biped robot
Evolutionary robotic
Forward kinematic
Particles swarm optimization
Robot walk
Support polygon
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Summary:•This is a model of a biped robot's walk in 3D simulation.•A strategy based on an evolution method, which is particle swarm optimization, was developed.•The biped presented has ten degrees of freedom on ten articulations between seven links.•This work invokes also the direct kinematics principal using a constraint on the centre of mass and the support polygon.•Results show that this method is tempting for a high level development. This paper is a presentation of a work that consists to model a biped robot walk in simulation. The specific objective is to develop a strategy based on an evolutionary method. The chosen architecture to represent the biped includes ten degrees of freedom on ten articulations between seven links. This evolutionary method is a generation of articulation angles using a particle swarm optimization (PSO). This work invokes also the direct kinematic principle. The PSO guarantees the stability of the biped by using a constraint on the center of mass (CoM) and the polygon of support. Results show that this method is tempting for a high level development.
ISSN:1877-7503
1877-7511
DOI:10.1016/j.jocs.2014.01.006