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

  • Authors

    • Arman Hadi Azahar
    • Chong Shin Horng
    • Anuar Mohamed Kassim
    • Amar Faiz Zainal Abidin
    • Mohamad Haniff Harun
    • Mohd Badril Nor Shah
    • Khalil Azha Mohd Annuar
    • Mustafa Manap
    • Zairi Ismael Rizman

    How to Cite

    Hadi Azahar, A., Shin Horng, C., Mohamed Kassim, A., Faiz Zainal Abidin, A., Haniff Harun, M., Badril Nor Shah, M., Azha Mohd Annuar, K., Manap, M., & Ismael Rizman, Z. (2018). Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA). International Journal of Engineering and Technology, 7(2.14), 160-164. https://doi.org/10.14419/ijet.v7i2.14.12817

    Received date: May 14, 2018

    Accepted date: May 14, 2018

    Published date: April 6, 2018

    https://doi.org/10.14419/ijet.v7i2.14.12817
  • One Legged, Hopping, CPG, PI, Genetic Algorithm

  • 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.

     

     

  • References

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  • How to Cite

    Hadi Azahar, A., Shin Horng, C., Mohamed Kassim, A., Faiz Zainal Abidin, A., Haniff Harun, M., Badril Nor Shah, M., Azha Mohd Annuar, K., Manap, M., & Ismael Rizman, Z. (2018). Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA). International Journal of Engineering and Technology, 7(2.14), 160-164. https://doi.org/10.14419/ijet.v7i2.14.12817

    Received date: May 14, 2018

    Accepted date: May 14, 2018

    Published date: April 6, 2018