The Science and Information (SAI) Organization
  • Home
  • About Us
  • Journals
  • Conferences
  • Contact Us

Publication Links

  • IJACSA
  • Author Guidelines
  • Publication Policies
  • Metadata Harvesting (OAI2)
  • Digital Archiving Policy
  • Promote your Publication

IJACSA

  • About the Journal
  • Call for Papers
  • Author Guidelines
  • Fees/ APC
  • Submit your Paper
  • Current Issue
  • Archives
  • Indexing
  • Editors
  • Reviewers
  • Apply as a Reviewer

IJARAI

  • About the Journal
  • Archives
  • Indexing & Archiving

Special Issues

  • Home
  • Archives
  • Proposals
  • Guest Editors

Future of Information and Communication Conference (FICC)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Computing Conference

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Intelligent Systems Conference (IntelliSys)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Future Technologies Conference (FTC)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact
  • Home
  • Call for Papers
  • Guidelines
  • Fees
  • Submit your Paper
  • Current Issue
  • Archives
  • Indexing
  • Editors
  • Reviewers
  • Subscribe

Article Details

Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

Oscillation Preventing Closed-Loop Controllers via Genetic Algorithm for Biped Walking on Flat and Inclined Surfaces

Author 1: Sabri Yilmaz
Author 2: Metin Gokasan
Author 3: Seta Bogosyan

Download PDF

Digital Object Identifier (DOI) : 10.14569/IJACSA.2020.0110568

Article Published in International Journal of Advanced Computer Science and Applications(IJACSA), Volume 11 Issue 5, 2020.

  • Abstract and Keywords
  • How to Cite this Article
  • {} BibTeX Source

Abstract: In this study, a closed-loop controller is designed to overcome the dynamical insufficiency of the 3D Linear Inverted Pendulum Model (LIPM) via the Genetic Algorithm (GA). The main idea is to still use the 3D LIPM with a closed-loop controller because of its ease at modeling. While suppressing the dynamical flaws only the legs are used, in other words a robot is used which does not have any upper body elements to have a more modular robot. For this purpose, a biped is modeled with the 3D LIPM which is one of the most famous modeling methods of humanoid robots for the ease of modeling and fast calculations during the trajectory planning. After obtaining the simple model, Model Predictive Control (MPC) is applied to the 3D LIPM to find the reference trajectories for the biped while satisfying the Zero Moment Point (ZMP) criteria. The found reference trajectories applied to the full dynamical model on Matlab Simulink and the real biped in the laboratory at Istanbul Technical University. From the simulation results on the flat and inclined surfaces and real-time experiments on a flat surface some dynamical flaws are observed due to the simple modeling. To overcome these flaws a Proportional-Integral (PI) controller is designed, and the optimal value of the controller gains are found by the GA. The results assert that the designed controller can overcome the observed flaws and makes biped move more stable, smoother, and move without steady-state error.

Keywords: Humanoid robot; biped walking; Model Predictive Control (MPC); Genetic Algorithm (GA); trajectory planning; Zero Moment Point (ZMP); linear inverted pendulum

Sabri Yilmaz, Metin Gokasan and Seta Bogosyan, “Oscillation Preventing Closed-Loop Controllers via Genetic Algorithm for Biped Walking on Flat and Inclined Surfaces” International Journal of Advanced Computer Science and Applications(IJACSA), 11(5), 2020. http://dx.doi.org/10.14569/IJACSA.2020.0110568

@article{Yilmaz2020,
title = {Oscillation Preventing Closed-Loop Controllers via Genetic Algorithm for Biped Walking on Flat and Inclined Surfaces},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2020.0110568},
url = {http://dx.doi.org/10.14569/IJACSA.2020.0110568},
year = {2020},
publisher = {The Science and Information Organization},
volume = {11},
number = {5},
author = {Sabri Yilmaz and Metin Gokasan and Seta Bogosyan}
}


IJACSA

Upcoming Conferences

Future of Information and Communication Conference (FICC) 2023

2-3 March 2023

  • Virtual

Computing Conference 2023

22-23 June 2023

  • London, United Kingdom

IntelliSys 2023

7-8 September 2023

  • Amsterdam, The Netherlands

Future Technologies Conference (FTC) 2023

2-3 November 2023

  • San Francisco, United States
The Science and Information (SAI) Organization
BACK TO TOP

Computer Science Journal

  • About the Journal
  • Call for Papers
  • Submit Paper
  • Indexing

Our Conferences

  • Computing Conference
  • Intelligent Systems Conference
  • Future Technologies Conference
  • Communication Conference

Help & Support

  • Contact Us
  • About Us
  • Terms and Conditions
  • Privacy Policy

© The Science and Information (SAI) Organization Limited. Registered in England and Wales. Company Number 8933205. All rights reserved. thesai.org