Abstract
Hexapods are widely used in the field of rescue robots that transport in complex terrains which are difficult for traditional wheeled robots to traverse. Currently, the method for hexapod gait control is often PID, a classical method that is universally exploited in all control systems in general. However, the fine-tuning of PID’s hyper-parameters(i.e. kp, ki and kd) mainly rely on chances and the experience of tuners. Therefore, it is both urgent and critical to find an automatic way to get through the tuning process and return optimal results. Aiming at this, this paper puts forward a novel approach to adjust these parameters with genetic algorithm. It first builds a computational model of the hexapod, then the terrain, then designates the input, output and constants of the system, builds the PID closed loop, and finally tunes it using genetic algorithm. The approach described in the paper leads to optimal results in a reasonable amount of time. This makes having hexapods walk on uneven terrain with ease and automacy an alluring possibility.
Publisher
Darcy & Roy Press Co. Ltd.
Reference11 articles.
1. G. Cabodevila and G. Abba, "Quasi optimal gait for a biped robot using genetic algorithm," 1997 IEEE International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation, Orlando, FL, USA, vol.4, pp. 3960-3965, 1997.
2. K. S. Jeon, O. Kwon and J. H. Park, "Optimal trajectory generation for a biped robot walking a staircase based on genetic algorithms," 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), Sendai, Japan, vol.3, pp. 2837-2842, 2004.
3. A. D. Udai, "Optimum Hip Trajectory Generation of a Biped Robot during Single Support Phase Using Genetic Algorithm," 2008 First International Conference on Emerging Trends in Engineering and Technology, Nagpur, India, pp. 739-744, 2008.
4. Q. Zhan, L. Yang, Y. Zhang, Y. Ma and A. Rahmani, "Research on Torque Optimization of Biped Wall Climbing Robot Based on Genetic Algorithm," 2017 International Conference on Computer Technology, Electronics and Communication (ICCTEC), Dalian, China, pp. 1030-1035, 2017.
5. J. Zhang, X. Luo, Z. Xie, L. Li and Y. He, "Research on Motion Planning of the Biped Robot based on Genetic Algorithm," 2019 IEEE 4th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), Chengdu, China, pp. 944-949, 2019.