Professor of School of Engineering, Design and Built Environment, 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.
2024-02-24
2024-01-04
2023-11-02
Abstract— The humanoid robots associate and work with human, they should be able to access anywhere people can even in complex and harsh environments. This research proposes an optimal path design for humanoid robots to walk on a narrow beam. The experiments and simulations of a commercial humanoid robot (Bioloid Premium Type A), with 18 Degree of Freedoms (DOFs) were conducted. The multi-objective optimization was used to design the walking path of the robots on the beam by comparing four algorithms: MOWOA, MOGWO, MOHS, and MOGA. The performance comparison was made based on the hypervolume (HV) indicator. The optimal points were chosen from non-dominated solutions by MCDM method and minimization weighted sum method (WSM). There were two objective functions: 1) maximum postural stability of a humanoid robot walk and 2) minimal jerk.
