Implementation of GA in Designing Control System for Paraplegic Walking Movement using Walker
نویسندگان
چکیده
Abstract: Due to the complex nature of the humanoid model structure and unavailability of its mathematical model, the model of humanoid structure is developed and then simulated in MSC Visual Nastran to find the dynamics of humanoid model walk with walker and the reference trajectories for normal walk are obtained. Further estimation of the joint torques and the development of a controller to control the movement of the humanoid model with walker is being done. To guide the humanoid model according to the reference trajectories, the controllers are designed. Genetic Algorithm (GA) is employed to optimize the PID controller’s parameters so that the developed model follows the reference trajectories.
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