The week's pick
Reseach Article
IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 58 - Number 22 |
| Year of Publication: 2012 |
| Authors: Nizar Rokbani, Adel M Alimi |
10.5120/9432-3844
|
Nizar Rokbani, Adel M Alimi . IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation. International Journal of Computer Applications. 58, 22 ( November 2012), 33-39. DOI=10.5120/9432-3844
Abstract
This paper describes a new approach allowing the generation of a simplified Biped gait. This approach combines a classical dynamic modeling with an inverse kinematics' solver based on particle swarm optimization, PSO. First, an inverted pendulum, IP, is used to obtain a simplified dynamic model of the robot and to compute the target position of a key point in biped locomotion, the Centre Of Mass, COM. The proposed algorithm, called IK-PSO, Inverse Kinematics PSO, returns and inverse kinematics solution corresponding to that COM respecting the joints constraints. In This paper the inertia weight PSO variant is used to generate a possible solution according to the stability based fitness function and a set of joints motions constraints. The method is applied with success to a leg motion generation. Since based on a pre-calculated COM, that satisfied the biped stability, the proposal allowed also to plan a walk with application on a small size biped robot.
References
- M. Y. Al-Zaydi, S. H. M. Amin. 1997. Simulation kinematics model of a multi-legged mobile robot. in the Proc of 8th International Conference on Advanced Robotics, pp : 89-94.
- P. I Corke, P. I. 1996. A robotics toolbox for MATLAB. IEEE, Robotics & Automation Magazine, Volume: 3, Issue: 1,1996, pp: 24 – 32.
- A Jamali, R Khan, and M Rahman. 2011. A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length. In Proc of Mechatronics (ICOM).
- H. Das, J. Slotine,T. B. Sheridan. 1988. Inverse kinematic algorithms for redundant systems. Proc of IEEE International Conference on Robotics and Automations, pp: 43-48.
- S. Alavandar, and M. J. Nigam. 2008. Neuro-Fuzzy based Approach for Inverse Kinematics solution of Industrial Robot Manipulators. Int. J. of Computers, Communications & Control, Vol. III , No. 3, pp : 224-234.
- K Parker, AR Khoogar, and D. E. Goldberg. 1989. "Inverse kinematics of redundant robots using genetic algorithms", In Proc of IEEE ICRA, pp: 271- 276.
- O. Chocron,and P. Bidaud. 1997. Evolutionary algorithms in kinematic design of robotic systems. In Proc of IROS'97, pp: 1111- 1117.
- R. Rajendra, and D. K. Pratihar. 2011. Multi-objective optimization in gait planning of biped robot using genetic algorithm and particle swarm optimization tool. Journal of Control Engineering and Technology, pp : 81-94.
- M. Vukobratovic, A. Frank, and D. Juricic. 1970. On the Stability of Biped Locomotion. IEEE Transactions on Biomedical Engineering, Volume: 17, Issue 1, pp: 25 – 36.
- N. Rokbani, B. Ammar Cherif and A. M. Alimi. 2009. Toward Intelligent Biped-Humanoids Gaits Generation. Humanoid Robots, Ben Choi (Ed. ), ISBN: 978-953-7619-44-2, InTech.
- J. Denavit, and R. S. Hartenberg. 1955. A kinematics notation for lower-pair mechanisms based on matrices. Journal. Applied mechanics. Vol 22, pp : 215-221.
- J. Kennedy and R. Eberhart. 1995. Particle swarm optimization. In Proc of IEEE International Conference on Neural Networks.
- Y. Shi, and R. Eberhart, 1998. A modified particle swarm optimizer. In Proc of the 1998 IEEE World Congress on Computational Intelligence and IEEE International Conference on Evolutionary Computation, pp: 69-73.
- W. Elloumi, N. Rokbani and A. M. Alimi. 2009. Ant supervised by PSO. In Proc of International symposium on Computational Intelligence and Intelligent Informatics, pp : 161-166.
- N. Rokbani, A. M. Adel, and B. Ammar. 2007. Architectural Proposal for a Robotized Intelligent humanoid, IZiman. In Proc of IEEE International Conference on Automation and Logistics, ICAL2007, pp: 1941 – 1946.
- N. Rokbani, EL. Benbousasa and A. M ALIMI. 2008. Particle Swarm Optimization for Humanoid Walking Gait Generation", In Proc of 11' Clawar 2008, ADVANCES IN MOBILE ROBOTICS, Chapter 90, pp: 744-751.
- N. Rokbani, E. B. Boussada, B. Ammar and A. M. Alimi. 2009. From GAITS TO ROBOT, A HYBRID METHODOLOGY FOR A BIPED WALKER. In Proc of 12' Clawar 2009. Mobile Robotics, chapter 84, pp: 685-692.
- N. Rokbani, E. Benbousaada, B. Ammar and A. M. Alimi. 2010. Biped robot control using particle swarm optimization. In Proc. of Intl. Conf. on Systems Man and Cybernetics (SMC 2010), pp: 506 -512.
- N. Rokbani, A. Zaidi and A. M Alimi. 2012. Prototyping a Biped Robot Using an Educational Robotics Kit. International Conference on Education and E-Learning Innovations, ICEELI'2012.
Index Terms
Keywords