Terrain-Adaptive PID Control of a Five-Link Bipedal Robot Using Modified Grey Wolf Optimization

This paper presents a terrain-adaptive PID control strategy for a five-link bipedal robot. Grey Wolf Optimization (GWO) algorithm is employed to optimally tune the PID controller parameters for enhanced gait stability and tracking performance. The proposed approach utilizes adaptive parameter control within the GWO framework to improve convergence speed and solution accuracy in the presence of nonlinear dynamics typical of bipedal locomotion. A kinematic model of the robot is developed, and a cost function based on tracking error and control effort is defined to guide the optimization process. Simulation results demonstrate the effectiveness of the optimized controller, showing admissible coincidence between the desired and actual joint angles and velocities. The angle and velocity tracking plots confirm control performance, while visual snapshots of the walking gait on flat terrain illustrate stable and natural locomotion.

کلیدواژه ها:

Bipedal Robot ، GWO Algorithm ، Locomotion ، Even Terrain