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

• Main Authors: Kwek, L.C., Kang, C.C., Loo, C.K., Wong, E.K.
• Format: Article
• Published: 2005
• Subjects: T Technology (General)
• Online Access: http://eprints.um.edu.my/5171/; 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
• Institution: Universiti Malaya

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