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Multi-Objective Whale Optimization Algorithm of Humanoid Robot Walking and Carry Objects on Inclined Planes

Kittisak Sanprasit
Department of Electrical and Electronic Engineering, Faculty of Industrial Technology, Loei Rajabhat University, Loei, Thailand

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. 

Index Terms— Humanoid Robot, MOWOA, weighted sum method, Pareto front, carry objects, inclined planes, objective functions

Cite: Kittisak Sanprasit, "Multi-Objective Whale Optimization Algorithm of Humanoid Robot Walking and Carry Objects on Inclined Planes," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 7, pp. 1031-1042, July 2020. DOI: 10.18178/ijmerr.9.7.1031-1042

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.