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
    2018-04-06
    https://doi.org/10.14419/ijet.v7i2.14.12817
  • One Legged, Hopping, CPG, PI, Genetic Algorithm

  • 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 & Technology, 7(2.14), 160-164. https://doi.org/10.14419/ijet.v7i2.14.12817