Optimal synthesis of planar eight-link walking leg mechanism using genetic algorithm Online publication date: Thu, 28-Apr-2022
by B.V. Raghavendra; Anandkumar R. Annigeri
International Journal of Modelling, Identification and Control (IJMIC), Vol. 38, No. 2, 2021
Abstract: A walking leg mechanism robot is a type of locomotion that operates by means of legs and/or wheels on rough terrain or flat surface to a motor attached to the mechanism. These types of robot are effective in rough terrains such as large agricultural sector for farming, mobility in open fields, dangerous and rescue areas for humans. The dimensions of the links, number of links, pivot point and rpm of motor play a critical role in deciding foot profile. The performance of walking leg mechanism is evaluated based on stride height, stride length, velocity, acceleration and stability of the robot. In this paper, the optimisation of link lengths for foot profile of a planar single degree of freedom eight link walking leg mechanism using evolutionary approach - genetic algorithm is attempted. The lengths of eight links are optimised for stride length and stride height of the foot trajectory for nine different configurations of the walking leg mechanism.
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