Please use this identifier to cite or link to this item:
Title: An improved ZMP-based CPG model of bipedal robot walking searched by SaDE
Authors: Yu, HF 
Fung, EHK 
Jing, XJ 
Issue Date: 2014
Publisher: Hindawi Publishing Corporation
Source: ISRN robotics, 2014, v. 2014, 241767, p. 1-16 How to cite?
Journal: ISRN robotics 
Abstract: This paper proposed amethod to improve thewalking behavior of bipedal robot with adjustable step length.Objectives of this paper are threefold. (1) Genetic Algorithm Optimized Fourier Series Formulation (GAOFSF) is modified to improve its performance. (2) Self-adaptive Differential Evolutionary Algorithm (SaDE) is applied to search feasible walking gait. (3) An efficient method is proposed for adjusting step length based on themodified central pattern generator (CPG)model.TheGAOFSF ismodified to ensure that trajectories generated are continuous in angular position, velocity, and acceleration. After formulation of the modified CPG model, SaDE is chosen to optimize walking gait (CPG model) due to its superior performance.Through simulation results, dynamic balance of the robot with modified CPG model is better than the original one. In this paper, four adjustable factors (Rhs,support, Rhs,swing,Rks,support, ndRks,swing) are added to the joint trajectories.Through adjusting these four factors, joint trajectories are changed and hence the step length achieved by the robot. Finally, the relationship between (1) the desired step length and (2) an appropriate set of Rhs,support, Rhs,swing, Rks,support, and Rks,swing searched by SaDE is learnt by Fuzzy Inference System(FIS). Desired joint angles can be found without the aid of inverse kinematic model.
EISSN: 2090-8806
DOI: 10.1155/2014/241767
Rights: Copyright © 2014 H. F. Yu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
The following article: H. F. Yu, E. H. K. Fung, and X. J. Jing, “An Improved ZMP-Based CPG Model of Bipedal Robot Walking Searched by SaDE,” ISRN Robotics, vol. 2014, Article ID 241767, 16 pages, 2014 is available at
Appears in Collections:Journal/Magazine Article

Files in This Item:
File Description SizeFormat 
Yu_improved_ZMP-based_CPG.pdf2.25 MBAdobe PDFView/Open
View full-text via PolyU eLinks SFX Query
Show full item record
PIRA download icon_1.1View/Download Contents

Page view(s)

Last Week
Last month
Citations as of Dec 10, 2018

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.