Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking

Runming Zhang; Huaxin Liu; Fei Meng; Ru Kang; Zhangguo Yu; Aiguo Ming; Qiang Huang

doi:10.1109/ROBIO.2018.8664851

Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking

Runming Zhang^*
, Huaxin Liu
, Fei Meng
, Ru Kang
, Zhangguo Yu
, Aiguo Ming
, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology
The University of Electro-Communications

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

In this paper, a method of motion planning and trajectory optimization is proposed to decrease energy consumption and improve speed performance for bipedal walking. For a long time, researches of bipedal walking have been concentrated on single supporting phase, in which dynamic model such as inverted pendulum model (IPM) is used. Originally, in this paper the trajectory of the center of mass (COM) is generated separately: trajectory of COM is first planned in double supporting phase (DSP), then the trajectory of COM in single supporting phase (SSP) is generated consequently based on inverted pendulum model (IPM). Trajectory of COM in DSP, derivating SSP trajectory is optimized to achieve minimum energy consumption and better speed performance for bipedal walking. The evaluation of energy consumption and speed is illustrated as total cost of transporting (TCOT). To optimize a three dimensional space trajectory in DSP, modified genetic algorithm (GA), squad-unit generic algorithm is conducted. In this method, the unit for evolution contains three members sharing the same fitness value and has the advantage over conventional that can only represent one-dimensional input variable. The effect of optimization of three dimensional trajectories is verified by simulation.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	661-667
Number of pages	7
ISBN (Electronic)	9781728103761
DOIs	https://doi.org/10.1109/ROBIO.2018.8664851
Publication status	Published - 2 Jul 2018
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018

Publication series

Name	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/ROBIO.2018.8664851

Cite this

Zhang, R., Liu, H., Meng, F., Kang, R., Yu, Z., Ming, A., & Huang, Q. (2018). Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 661-667). Article 8664851 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8664851

Zhang, Runming ; Liu, Huaxin ; Meng, Fei et al. / Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 661-667 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

@inproceedings{c9e20d3846214f04a540cf9be67e4440,

title = "Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking",

abstract = "In this paper, a method of motion planning and trajectory optimization is proposed to decrease energy consumption and improve speed performance for bipedal walking. For a long time, researches of bipedal walking have been concentrated on single supporting phase, in which dynamic model such as inverted pendulum model (IPM) is used. Originally, in this paper the trajectory of the center of mass (COM) is generated separately: trajectory of COM is first planned in double supporting phase (DSP), then the trajectory of COM in single supporting phase (SSP) is generated consequently based on inverted pendulum model (IPM). Trajectory of COM in DSP, derivating SSP trajectory is optimized to achieve minimum energy consumption and better speed performance for bipedal walking. The evaluation of energy consumption and speed is illustrated as total cost of transporting (TCOT). To optimize a three dimensional space trajectory in DSP, modified genetic algorithm (GA), squad-unit generic algorithm is conducted. In this method, the unit for evolution contains three members sharing the same fitness value and has the advantage over conventional that can only represent one-dimensional input variable. The effect of optimization of three dimensional trajectories is verified by simulation.",

author = "Runming Zhang and Huaxin Liu and Fei Meng and Ru Kang and Zhangguo Yu and Aiguo Ming and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/ROBIO.2018.8664851",

language = "English",

series = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

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Zhang, R, Liu, H, Meng, F, Kang, R, Yu, Z, Ming, A & Huang, Q 2018, Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8664851, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 661-667, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8664851

Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking. / Zhang, Runming; Liu, Huaxin; Meng, Fei et al.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 661-667 8664851 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking

AU - Zhang, Runming

AU - Liu, Huaxin

AU - Meng, Fei

AU - Kang, Ru

AU - Yu, Zhangguo

AU - Ming, Aiguo

AU - Huang, Qiang

PY - 2018/7/2

Y1 - 2018/7/2

N2 - In this paper, a method of motion planning and trajectory optimization is proposed to decrease energy consumption and improve speed performance for bipedal walking. For a long time, researches of bipedal walking have been concentrated on single supporting phase, in which dynamic model such as inverted pendulum model (IPM) is used. Originally, in this paper the trajectory of the center of mass (COM) is generated separately: trajectory of COM is first planned in double supporting phase (DSP), then the trajectory of COM in single supporting phase (SSP) is generated consequently based on inverted pendulum model (IPM). Trajectory of COM in DSP, derivating SSP trajectory is optimized to achieve minimum energy consumption and better speed performance for bipedal walking. The evaluation of energy consumption and speed is illustrated as total cost of transporting (TCOT). To optimize a three dimensional space trajectory in DSP, modified genetic algorithm (GA), squad-unit generic algorithm is conducted. In this method, the unit for evolution contains three members sharing the same fitness value and has the advantage over conventional that can only represent one-dimensional input variable. The effect of optimization of three dimensional trajectories is verified by simulation.

AB - In this paper, a method of motion planning and trajectory optimization is proposed to decrease energy consumption and improve speed performance for bipedal walking. For a long time, researches of bipedal walking have been concentrated on single supporting phase, in which dynamic model such as inverted pendulum model (IPM) is used. Originally, in this paper the trajectory of the center of mass (COM) is generated separately: trajectory of COM is first planned in double supporting phase (DSP), then the trajectory of COM in single supporting phase (SSP) is generated consequently based on inverted pendulum model (IPM). Trajectory of COM in DSP, derivating SSP trajectory is optimized to achieve minimum energy consumption and better speed performance for bipedal walking. The evaluation of energy consumption and speed is illustrated as total cost of transporting (TCOT). To optimize a three dimensional space trajectory in DSP, modified genetic algorithm (GA), squad-unit generic algorithm is conducted. In this method, the unit for evolution contains three members sharing the same fitness value and has the advantage over conventional that can only represent one-dimensional input variable. The effect of optimization of three dimensional trajectories is verified by simulation.

UR - https://www.scopus.com/pages/publications/85064135301

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DO - 10.1109/ROBIO.2018.8664851

M3 - Conference contribution

AN - SCOPUS:85064135301

T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

SP - 661

EP - 667

BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Y2 - 12 December 2018 through 15 December 2018

ER -

Zhang R, Liu H, Meng F, Kang R, Yu Z, Ming A et al. Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 661-667. 8664851. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). doi: 10.1109/ROBIO.2018.8664851

Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking

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