Matches in SemOpenAlex for { <https://semopenalex.org/work/W3033349237> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W3033349237 abstract "In this study, a closed-loop controller is designed to overcome the dynamical insufficiency of the 3D Linear Inverted Pendulum Model (LIPM) via the Genetic Algorithm (GA). The main idea is to still use the 3D LIPM with a closed-loop controller because of its ease at modeling. While suppressing the dynamical flaws only the legs are used, in other words a robot is used which does not have any upper body elements to have a more modular robot. For this purpose, a biped is modeled with the 3D LIPM which is one of the most famous modeling methods of humanoid robots for the ease of modeling and fast calculations during the trajectory planning. After obtaining the simple model, Model Predictive Control (MPC) is applied to the 3D LIPM to find the reference trajectories for the biped while satisfying the Zero Moment Point (ZMP) criteria. The found reference trajectories applied to the full dynamical model on Matlab Simulink and the real biped in the laboratory at Istanbul Technical University. From the simulation results on the flat and inclined surfaces and real-time experiments on a flat surface some dynamical flaws are observed due to the simple modeling. To overcome these flaws a Proportional-Integral (PI) controller is designed, and the optimal value of the controller gains are found by the GA. The results assert that the designed controller can overcome the observed flaws and makes biped move more stable, smoother, and move without steady-state error." @default.
- W3033349237 created "2020-06-12" @default.
- W3033349237 creator A5065716460 @default.
- W3033349237 creator A5087520182 @default.
- W3033349237 creator A5088438996 @default.
- W3033349237 date "2020-01-01" @default.
- W3033349237 modified "2023-09-23" @default.
- W3033349237 title "Oscillation Preventing Closed-Loop Controllers via Genetic Algorithm for Biped Walking on Flat and Inclined Surfaces" @default.
- W3033349237 cites W1967365365 @default.
- W3033349237 cites W1994275787 @default.
- W3033349237 cites W2021512411 @default.
- W3033349237 cites W2088175395 @default.
- W3033349237 cites W2089476757 @default.
- W3033349237 cites W2108672171 @default.
- W3033349237 cites W2151182239 @default.
- W3033349237 cites W2152624911 @default.
- W3033349237 cites W2321578294 @default.
- W3033349237 cites W2556468286 @default.
- W3033349237 cites W2618245409 @default.
- W3033349237 cites W2785742858 @default.
- W3033349237 cites W2894593111 @default.
- W3033349237 cites W2968186009 @default.
- W3033349237 cites W2980301669 @default.
- W3033349237 cites W3009113085 @default.
- W3033349237 cites W3010455412 @default.
- W3033349237 cites W3101144081 @default.
- W3033349237 doi "https://doi.org/10.14569/ijacsa.2020.0110568" @default.
- W3033349237 hasPublicationYear "2020" @default.
- W3033349237 type Work @default.
- W3033349237 sameAs 3033349237 @default.
- W3033349237 citedByCount "0" @default.
- W3033349237 crossrefType "journal-article" @default.
- W3033349237 hasAuthorship W3033349237A5065716460 @default.
- W3033349237 hasAuthorship W3033349237A5087520182 @default.
- W3033349237 hasAuthorship W3033349237A5088438996 @default.
- W3033349237 hasBestOaLocation W30333492371 @default.
- W3033349237 hasConcept C111919701 @default.
- W3033349237 hasConcept C119857082 @default.
- W3033349237 hasConcept C121332964 @default.
- W3033349237 hasConcept C1276947 @default.
- W3033349237 hasConcept C13662910 @default.
- W3033349237 hasConcept C154945302 @default.
- W3033349237 hasConcept C158622935 @default.
- W3033349237 hasConcept C19245436 @default.
- W3033349237 hasConcept C192921069 @default.
- W3033349237 hasConcept C203479927 @default.
- W3033349237 hasConcept C2775924081 @default.
- W3033349237 hasConcept C2780365114 @default.
- W3033349237 hasConcept C41008148 @default.
- W3033349237 hasConcept C47446073 @default.
- W3033349237 hasConcept C60692881 @default.
- W3033349237 hasConcept C62520636 @default.
- W3033349237 hasConcept C6557445 @default.
- W3033349237 hasConcept C86803240 @default.
- W3033349237 hasConcept C8880873 @default.
- W3033349237 hasConcept C90509273 @default.
- W3033349237 hasConceptScore W3033349237C111919701 @default.
- W3033349237 hasConceptScore W3033349237C119857082 @default.
- W3033349237 hasConceptScore W3033349237C121332964 @default.
- W3033349237 hasConceptScore W3033349237C1276947 @default.
- W3033349237 hasConceptScore W3033349237C13662910 @default.
- W3033349237 hasConceptScore W3033349237C154945302 @default.
- W3033349237 hasConceptScore W3033349237C158622935 @default.
- W3033349237 hasConceptScore W3033349237C19245436 @default.
- W3033349237 hasConceptScore W3033349237C192921069 @default.
- W3033349237 hasConceptScore W3033349237C203479927 @default.
- W3033349237 hasConceptScore W3033349237C2775924081 @default.
- W3033349237 hasConceptScore W3033349237C2780365114 @default.
- W3033349237 hasConceptScore W3033349237C41008148 @default.
- W3033349237 hasConceptScore W3033349237C47446073 @default.
- W3033349237 hasConceptScore W3033349237C60692881 @default.
- W3033349237 hasConceptScore W3033349237C62520636 @default.
- W3033349237 hasConceptScore W3033349237C6557445 @default.
- W3033349237 hasConceptScore W3033349237C86803240 @default.
- W3033349237 hasConceptScore W3033349237C8880873 @default.
- W3033349237 hasConceptScore W3033349237C90509273 @default.
- W3033349237 hasLocation W30333492371 @default.
- W3033349237 hasOpenAccess W3033349237 @default.
- W3033349237 hasPrimaryLocation W30333492371 @default.
- W3033349237 hasRelatedWork W12879349 @default.
- W3033349237 hasRelatedWork W15053383 @default.
- W3033349237 hasRelatedWork W3011641 @default.
- W3033349237 hasRelatedWork W4543385 @default.
- W3033349237 hasRelatedWork W614894 @default.
- W3033349237 hasRelatedWork W6209220 @default.
- W3033349237 hasRelatedWork W6737267 @default.
- W3033349237 hasRelatedWork W8412188 @default.
- W3033349237 hasRelatedWork W8873214 @default.
- W3033349237 hasRelatedWork W9273886 @default.
- W3033349237 isParatext "false" @default.
- W3033349237 isRetracted "false" @default.
- W3033349237 magId "3033349237" @default.
- W3033349237 workType "article" @default.