Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA)

 
 
 
  • Abstract
  • Keywords
  • References
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  • Abstract


    This paper presents the optimization process of Central Pattern Generator (CPG) controller for one legged hopping robot by using Genetic Algorithm (GA). To control the one legged hopping robot, a CPG controller is designed and integrated with a conventional Proportional-Integral (PI) controller. Conventionally, the CPG parameters are tuned manually. But by using this method, the parameters produced are not exactly the optimum parameters for the CPG. Therefore, a computational stochastic optimization method; GA is designed to optimize the CPG controller parameters. The GA is designed based on minimizing the error produced towards achieving the reference height. The re-sponse of the one legged hopping robot is compared and the results of the error towards reference height are analyzed.

     

     


  • Keywords


    One Legged; Hopping; CPG; PI; Genetic Algorithm

  • References


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Article ID: 12817
 
DOI: 10.14419/ijet.v7i2.14.12817




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