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Optimal Design for Flexible Passive Biped Walker Based on Chaotic Particle Swarm Optimization
Yao Wu,Daojin Yao,Xiaohui Xiao 대한전기학회 2018 Journal of Electrical Engineering & Technology Vol.13 No.6
Passive dynamic walking exhibits humanoid and energy efficient gaits. However, optimal design of passive walker at multi-variable level is not well studied yet. This paper presents a Chaotic Particle Swarm Optimization (CPSO) algorithm and applies it to the optimal design of flexible passive walker. Hip torsional stiffness and damping were incorporated into flexible biped walker, to imitate passive elastic mechanisms utilized in human locomotion. Hybrid dynamics were developed to model passive walking, and period-one gait was gained. The parameters global searching scopes were gained after investigating the influences of structural parameters on passive gait. CPSO were utilized to optimize the flexible passive walker. To improve the performance of PSO, multi-scroll Jerk chaotic system was used to generate pseudorandom sequences, and chaotic disturbance would be triggered if the swarm is trapped into local optimum. The effectiveness of CPSO is verified by comparisons with standard PSO and two typical chaotic PSO methods. Numerical simulations show that better fitness value of optimal design could be gained by CPSO presented. The proposed CPSO would be useful to design biped robot prototype.
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The effects of ground compliance on flexible planar passive biped dynamic walking
Yao Wu,Daojin Yao,Xiaohui Xiao 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.4
Passive biped dynamic walking exhibits humanoid gait. Many efforts have been made to implement a flexible and anthropomorphic passive model. However, the couple of flexible passive walker on compliant ground has not been well studied yet. The objective of this paper was to develop multibody dynamics for flexible passive walker on compliant ground, in which the nonlinear spring-damper contact model was used both in normal and tangential directions to represent ground compliance. Inspired by elastic mechanisms in human locomotion, hip stiffness and damping were incorporated in the proposed flexible passive walker. Different from traditional impactmomentum method, one unified set of continuous dynamics based on continuous force method was developed to describe the entire passive walking gait on compliant ground, including the real double support phase. Through numerical simulations, stable period-one gait and double support phase were gained. After investigating the effects of contact parameters on step length, period and velocity, it was found that larger contact stiffness and smaller contact damping lead to a higher step velocity gait. The adjustment of hip stiffness could be used to improve the versatility of the flexible walker on varying compliant grounds.
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Optimal Design for Flexible Passive Biped Walker Based on Chaotic Particle Swarm Optimization
Wu, Yao,Yao, Daojin,Xiao, Xiaohui The Korean Institute of Electrical Engineers 2018 Journal of Electrical Engineering & Technology Vol.13 No.6
Passive dynamic walking exhibits humanoid and energy efficient gaits. However, optimal design of passive walker at multi-variable level is not well studied yet. This paper presents a Chaotic Particle Swarm Optimization (CPSO) algorithm and applies it to the optimal design of flexible passive walker. Hip torsional stiffness and damping were incorporated into flexible biped walker, to imitate passive elastic mechanisms utilized in human locomotion. Hybrid dynamics were developed to model passive walking, and period-one gait was gained. The parameters global searching scopes were gained after investigating the influences of structural parameters on passive gait. CPSO were utilized to optimize the flexible passive walker. To improve the performance of PSO, multi-scroll Jerk chaotic system was used to generate pseudorandom sequences, and chaotic disturbance would be triggered if the swarm is trapped into local optimum. The effectiveness of CPSO is verified by comparisons with standard PSO and two typical chaotic PSO methods. Numerical simulations show that better fitness value of optimal design could be gained by CPSO presented. The proposed CPSO would be useful to design biped robot prototype.
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