Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains

doi:10.1007/s11633-018-1121-3

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	Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains
	Ravi Kumar Mandava; Pandu Ranga Vundavilli
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2018
卷号	15 期号:6 页码:689-706
摘要	The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller to ensure smooth walk of the biped robot. It is important to note that the success of the developed proportion integration differentiation (PID) controller depends on the selected gains of the controller. In the present study, an attempt is made to tune the gains of the PID controller for the biped robot ascending and descending the stair case and sloping surface with the help of two non-traditional optimization algorithms, namely modified chaotic invasive weed optimization (MCIWO) and particle swarm optimization (PSO) algorithms. Once the optimal PID controllers are developed, a simulation study has been conducted in computer for obtaining the optimal tuning parameters of the controller of the biped robot. Finally, the optimal gait angles obtained by using the best controller are fed to the real biped robot and found that the biped robot has successfully negotiated the said terrains.
关键词	Biped robot staircase sloping surface proportion integration differentiation (PID) controller modified chaotic invasive weed optimization (MCIWO) & particle swarm optimization (PSO) algorithm.
DOI	10.1007/s11633-018-1121-3
引用统计	被引频次：12[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42444
专题	学术期刊_Machine Intelligence Research
作者单位	School of Mechanical Sciences, Indian Institute of Technology (IIT) Bhubaneswar, Bhubaneswar 752050, India
推荐引用方式 GB/T 7714	Ravi Kumar Mandava,Pandu Ranga Vundavilli. Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains[J]. International Journal of Automation and Computing,2018,15(6):689-706.
APA	Ravi Kumar Mandava,&Pandu Ranga Vundavilli.(2018).Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains.International Journal of Automation and Computing,15(6),689-706.
MLA	Ravi Kumar Mandava,et al."Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains".International Journal of Automation and Computing 15.6(2018):689-706.

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