- All Journals
- Al-Qadisiyah University
- Basrah University
- Kirkuk University
- Mosul University
- The Iraqi Borad for Medical Specialization
- University of Anbar
- University of Technology
- Al Mustafa University
- Al-Zahraa University for Women
- Alnoor University
- Kunooz University
- Misan University
- Ninevah University
- Tikrit University
- University of Al-Hamdaniya
- University of Kerbala
Modeling and Control of Torso Compass Gait Biped Robot with AI Controller | ||
| Iraqi Journal for Electrical And Electronic Engineering | ||
| Article 1, Volume 13, Issue 1, 2017, Pages 32-37 PDF (0 K) | ||
| DOI: 10.33762/eeej.2017.128784 | ||
| Author | ||
| Abbas H.Miry | ||
| Abstract | ||
| This work presents the mathematical model for a torso compass gait biped robot with three degrees of freedom (DOF) which is comprised of two legs and torso. Euler Lagrange method's is used to drive the dynamic equation of robot with computed control is used as a controller. The relative angles are used to simplify the robot equation and get the symmetry of the matrix. Convention controller uses critical sampling to find the value of KP and Kv in computed controller, in this paper the Genetic optimization method is used to find the optimal value of KP and Kv with suitable objective function which employ the error and overshoot to make the biped motion smooth as possible. To investigate the work of robot a Matlab 2013b is used and the result show success of modeling | ||
| Keywords | ||
| Biped Robot; Computed Control; Lagrange; genetic algorithm | ||
|
Statistics Article View: 113 PDF Download: 77 |
||