2012 ©
             Publication
Journal Publication
Title of Article Multi-Objective Whale Optimization Algorithm for Balance Recovery of a Humanoid Robot 
Date of Acceptance 11 September 2019 
Journal
     Title of Journal International Journal of Mechanical Engineering and Robotics Research 
     Standard SCOPUS 
     Institute of Journal IJMERR Editorial Office 
     ISBN/ISSN  
     Volume  
     Issue
     Month September
     Year of Publication 2020 
     Page  
     Abstract In the near future, the humanoid robot has been expected to associate and work with a human. There is a chance that it has been hit from an external force and the robot cannot keep its balance. Thus, the robot might falls to human causing casualty or if it falls down to the ground the damage could cause ultimately to itself. For this reason, the humanoid must have balance recovering processes for protecting itself from the external force to prevent such damage. Therefore, this research proposes an optimal path design for a stand-balancing humanoid robot. The experiment simulates this situation using a force 1.11-N hits to the humanoid (Bioloid Premium Type A) robot. This commercial humanoid robot has 18 Degree of Freedoms (DOFs). With this complexity of DOFs, the mathematical model and joints control strategies are investigated to restore robot balancing. Six strategies are chosen to implement in this work; 1) ankle strategy, 2) knee strategy, 3) ankle and knee strategy, 4) ankle and hip strategy, 5) ankle knee and hip strategy, and 6) whole body (ankle, knee, hip, arms) strategy using Multi-objective Whale optimization algorithm (MOWOA) together with non-dominated solution and decision making by weighted product method. Three objective functions are employed; 1) a minimal orbital energy, 2) a minimal error of phase portrait, and 3) a minimal jerk. The results have shown that the ankle strategy gives the best result based on decision making by the weighted product method.  
     Keyword Humanoid Robot, MOWOA, weighted product method, Pareto front, Balancing, objective functions  
Author
567040015-3 Mr. KITTISAK SANPRASIT [Main Author]
Engineering Doctoral Degree

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Level of Publication นานาชาติ 
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