کنفرانس بین المللی محاسبات نرم

صفحه اصلی / ششمین کنفرانس بین المللی محاسبات نرم

Terrain-Adaptive PID Control of a Five-Link Bipedal Robot Using Modified Grey Wolf Optimization

نویسندگان :

Hadi Majdi¹ Farzin Aminzadeh Ghavifekr² Jafar Keyghobadi³ Amir A. Ghavifekr⁴

1- University of Tabriz 2- University of Tabriz 3- University of Tabriz 4- University of Tabriz

کلمات کلیدی :

Bipedal Robot،GWO،Algorithm, Locomotion،Even Terrain

چکیده :

This paper presents a terrain-adaptive PID control strategy for a five-link bipedal robot. Grey Wolf Optimization (GWO) algorithm is employed to optimally tune the PID controller parameters for enhanced gait stability and tracking performance. The proposed approach utilizes adaptive parameter control within the GWO framework to improve convergence speed and solution accuracy in the presence of nonlinear dynamics typical of bipedal locomotion. A kinematic model of the robot is developed, and a cost function based on tracking error and control effort is defined to guide the optimization process. Simulation results demonstrate the effectiveness of the optimized controller, showing admissible coincidence between the desired and actual joint angles and velocities. The angle and velocity tracking plots confirm control performance, while visual snapshots of the walking gait on flat terrain illustrate stable and natural locomotion.