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All Journal IAES International Journal of Robotics and Automation (IJRA)
Akhil, N.
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Automotive Engineering Electrical & Electronics Engineering

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A MULTI OBJECTIVE FUNCTION AND OPTIMAL DESIGN OF BAM USING MATLAB Bammidi, Roopsandeep; Ravi Teja, N.; Naveen Babu, S.; R. Sai Reddy, P.; Akhil, N.; Prakashini, O.
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (398.414 KB) | DOI: 10.11591/ijra.v9i3.pp%p

Abstract

From past decades, the different types of mechanisms in mobile robots have been created so far which includes legged, treaded-tyre and wheeled type robots. Among these types, the wheeled type is easiest to control while the treaded-tyre type offers improved flexibility. Legged locomotion, though not widely used for industrial purposes, has growing implications mainly due to its ease of maneuvering in rough terrains. The Walking motion is obtained through various mechanisms. Most obvious of these is the crank and rocker mechanism, which gives a walking style characteristic of human being. The present research work uses a different type of mechanism for driving a biped that is most distinguished by its ease of operation that produces a type of ?walk? similar to that of two legged mammals. In this research initially, a multi-objective optimization is carried out for the optimal design of the mechanism. This research involves a simulation of a simple Biped model using Crank-Rocker mechanism. The design of the biped robot is done by considering two important objective parameters stride and lift, a multi objective function must be created and optimization is done by using MATLAB Programming.
Co-Authors Bammidi, Roopsandeep Naveen Babu, S. Prakashini, O. R. Sai Reddy, P. Ravi Teja, N.