Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract— In the near future, the humanoid robots will associate and work with human. They can help us carrying objects in our homes and offices on uneven and inclined floors. If they are oscillated, they could fall on the ground causing damages to the objects and themselves. To prevent this problem, there must be methods for humanoid robot to walk and carry objects. Therefore, this research proposes an optimal path design for humanoid robot to walk and carry objects on inclined planes with changing slopes. The experiment simulates this situation for the humanoid (Bioloid Premium Type A) robot. This commercial humanoid robot has 18 Degree of Freedoms (DOFs). With such complexity of DOFs, This work also proposed a multi-objective optimization to determine how it walks and carries objects on inclined planes with changing slopes. The strategy using Multi-objective Whale optimization algorithm (MOWOA) with non-dominated solution and decision making by the weighted sum method (WSM). Two objective functions were employed; 1) maximum postural stability of a humanoid robot walk, 2) the minimum error oscillating of the object.
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