ONLINE DYNAMICALLY BALANCED ASCENDING AND DESCENDING GAIT GENERATIONS OF A BIPED ROBOT USING SOFT COMPUTING

摘要

In the present paper, two algorithms based on soft computing have been developed for dynamically balanced gait generations of a biped robot ascending and descending a staircase. The utility of the soft computing tools is best justified, when the data available for the problem to be solved are imprecise in nature, difficult to model and exhibit large-scale solution spaces. The problem of online gait generation of a biped robot exhibits such a complex phenomenon, and ultimately soft computing has become a natural choice for solving it. The gait generation problems of a biped robot have been solved using two different approaches, namely genetic-neural (GA-NN) and genetic-fuzzy (GA-FLC) systems. In GA-NN, the gait generation problem of a two-legged robot has been modeled using two modules of Neural Network (NN), whose weights are optimized offline using a Genetic Algorithm (GA), whereas in GA-FLC, the above problem is modeled utilizing two modules of Fuzzy Logic Controller (FLC) and their rule bases are optimized offline using a GA. Once optimized, the GA-NN and GA-FLC systems will be able to generate dynamically balanced gaits of the biped robot online. The performances of the two approaches are compared with respect to the Dynamic Balance Margin (DBM).