Optimizing Central Pattern Generators (CPG) Controller For One Legged Hopping Robot By Using Genetic Algorithm (GA)

Chong, Shin Horng and Azahar, Arman Hadi and Mohamed Kassim, Anuar and Zainal Abidin, Amar Faiz and Harun, Mohamad Haniff and Nor Shah, Mohd Badril and Mohd Annuar, Khalil Azha and Manap, Mustafa and Rizman, Zairi Ismael (2018) Optimizing Central Pattern Generators (CPG) Controller For One Legged Hopping Robot By Using Genetic Algorithm (GA). International Journal Of Engineering & Technology, 7 (3). pp. 160-164. ISSN 2227-524X

Text [2018IJET] Optimizing central pattern (CPG) for one legged hopping robot by using genetic algorithm (GA).pdf - Published Version Restricted to Registered users only Download (593kB)

Abstract

This paper presents the optimization process of Central Pattern Generator (CPG) controller for one legged hopping robot by using Genetic Algorithm (GA).To control the one legged hopping robot,a CPG controller is designed and integrated with a conventional ProportionalIntegral (PI) controller.Conventionally,the CPG parameters are tuned manually.But by using this method,the parameters produced are not exactly the optimum parameters for the CPG. Therefore,a computational stochastic optimization method; GA is designed to optimize the CPG controller parameters. The GA is designed based on minimizing the error produced towards achieving the reference height.The re-sponse of the one legged hopping robot is compared and the results of the error towards reference height are analyzed.

Item Type:	Article
Uncontrolled Keywords:	One Legged; Hopping; CPG; PI; Genetic Algorithm
Subjects:	T Technology > T Technology (General) T Technology > TA Engineering (General). Civil engineering (General)
Divisions:	Faculty of Electrical Engineering
Depositing User:	Mohd. Nazir Taib
Date Deposited:	12 Nov 2018 03:52
Last Modified:	16 Jul 2021 19:54
URI:	http://eprints.utem.edu.my/id/eprint/21328
Statistic Details:	View Download Statistic

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