The aim of this paper is to present novel Multi-objective Particle Swarm Optimization
(MOPSO) called Ingenious-MOPSO and compare its capability with three well-known multi …

Referring to the fact that the nn th links bipedal walking robot has high nonlinearity and
uncertainty parameters; therefore robust controllers for walking robot should be properly …

A novel technique for joint angles trajectory tracking control with energy optimization is
proposed for a biped robot with toe foot. For the task of climbing stairs by a 9-link biped …

The objective of this chapter is to present an optimal robust control approach based upon
smart multi-objective optimization algorithms for systems with challenging dynamic …

To successfully realize biped walking process for humanoid robot, a precise mathematical
model expressing the dynamic characteristics for the robot is required. In previous works, the …

Lately, many researchers have focused on the walking of biped robots in the sagittal plane.
In one hand, biped robots require the capability to step merely laterally, in confronting the …

The aim of this paper is to develop a robust control algorithm for a five-link biped robot with
one degree of underactuation to climb stairs in a natural manner. The biped consists of a five …

In this study, a fuzzy control policy is presented for dynamic walking of a biped robot that is
modeled as a simulated five-link biped robot. Due to complex ground contact models, it is …

En el estudio de prótesis inteligentes de las extremidades inferiores es común usar modelos
de robots bípedos para diseñar el controlador. En la literatura se han reportado numerosos …

Generating gait trajectories is an important step in biped motion control. So, in this paper, a
neuro fuzzy (ANFIS)-based gait trajectory generator for a normal walking of a biped robot …