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

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

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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
Uncontrolled Keywords: Active Force Control; Biped; Crude Approximation; Differential Evolution; Proportional-Derivative Control
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Computer Science & Information Technology > Dept of Artificial Intelligence
Depositing User: Miss Nur Jannatul Adnin Ahmad Shafawi
Date Deposited: 19 Mar 2013 01:18
Last Modified: 19 Mar 2013 01:18
URI: http://eprints.um.edu.my/id/eprint/5171

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