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• W2901261817 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." @default.
• W2901261817 created "2018-11-29" @default.
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• W2901261817 date "2018-04-06" @default.
• W2901261817 modified "2023-10-12" @default.
• W2901261817 title "Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA)" @default.
• W2901261817 doi "https://doi.org/10.14419/ijet.v7i2.14.12817" @default.
• W2901261817 hasPublicationYear "2018" @default.
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