A novel methodology to explore the periodic gait of a biped walker under uncertainty using a machine learning algorithm

摘要

Abstract In this paper, we present a systematic approach to improve the understanding of stability and robustness of stability against the external disturbances of a passive biped walker. First, a multi-objective, multi-modal particle swarm optimization (MOMM-PSO) algorithm was employed to suggest the appropriate initial conditions for a given biped walker model to be stable. The MOMM-PSO with ring topology and special crowding distance (SCD) used in this study can find multiple local minima under multiple objective functions by limiting each agent’s search area properly without determining a large number of parameters. Second, the robustness of stability under external disturbances was studied, considering an impact in the angular displacement sampled from the probabilistic distribution. The proposed systematic approach based on MOMM-PSO can find multiple initial conditions that lead the biped walker in the periodic gait, which could not be found by heuristic approaches in previous literature. In addition, the results from the proposed study showed that the robustness of stability might change depending on the location on a limit cycle where immediate angular displacement perturbation occurs. The observations of this study imply that the symmetry of the stable region about the limit cycle will break depending on the accelerating direction of inertia. We believe that the systematic approach developed in this study significantly increased the efficiency of finding the appropriate initial conditions of a given biped walker and the understanding of robustness of stability under the unexpected external disturbance. Furthermore, a novel methodology proposed for biped walkers in the present study may expand our understanding of human locomotion, which in turn may suggest clinical strategies for gait rehabilitation and help develop gait rehabilitation robotics.