Research on torque optimization of biped wall climbing robot based on genetic algorithm

Qiang Zhan; Lei Yang; Yin Zhang; Yijun Ma; Ahmed Rahmani

doi:10.1109/ICCTEC.2017.00227

Research on torque optimization of biped wall climbing robot based on genetic algorithm

Qiang Zhan
, Lei Yang
, Yin Zhang
, Yijun Ma
, Ahmed Rahmani

School of Mechanical Engineering and Automation

Beihang University
Ecole Centrale de Lille

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.

Original language	English
Title of host publication	Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1030-1035
Number of pages	6
ISBN (Electronic)	9781538657843
DOIs	https://doi.org/10.1109/ICCTEC.2017.00227
State	Published - Dec 2017
Event	2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017 - Dalian, China Duration: 18 Dec 2017 → 20 Dec 2017

Publication series

Name	Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017

Conference

Conference	2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017
Country/Territory	China
City	Dalian
Period	18/12/17 → 20/12/17

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Adsorption reliability
Biped wall climbing robot
Genetic algorithm
Torque optimization

Access to Document

10.1109/ICCTEC.2017.00227

Cite this

Zhan, Q., Yang, L., Zhang, Y., Ma, Y., & Rahmani, A. (2017). Research on torque optimization of biped wall climbing robot based on genetic algorithm. In Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017 (pp. 1030-1035). Article 8789151 (Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCTEC.2017.00227

Zhan, Qiang ; Yang, Lei ; Zhang, Yin et al. / Research on torque optimization of biped wall climbing robot based on genetic algorithm. Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1030-1035 (Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017).

@inproceedings{7226eb09ff854961ac20686dc9c57550,

title = "Research on torque optimization of biped wall climbing robot based on genetic algorithm",

abstract = "At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.",

keywords = "Adsorption reliability, Biped wall climbing robot, Genetic algorithm, Torque optimization",

author = "Qiang Zhan and Lei Yang and Yin Zhang and Yijun Ma and Ahmed Rahmani",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017 ; Conference date: 18-12-2017 Through 20-12-2017",

year = "2017",

month = dec,

doi = "10.1109/ICCTEC.2017.00227",

language = "英语",

series = "Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1030--1035",

booktitle = "Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017",

address = "美国",

}

Zhan, Q, Yang, L, Zhang, Y, Ma, Y & Rahmani, A 2017, Research on torque optimization of biped wall climbing robot based on genetic algorithm. in Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017., 8789151, Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017, Institute of Electrical and Electronics Engineers Inc., pp. 1030-1035, 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017, Dalian, China, 18/12/17. https://doi.org/10.1109/ICCTEC.2017.00227

Research on torque optimization of biped wall climbing robot based on genetic algorithm. / Zhan, Qiang; Yang, Lei; Zhang, Yin et al.
Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1030-1035 8789151 (Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on torque optimization of biped wall climbing robot based on genetic algorithm

AU - Zhan, Qiang

AU - Yang, Lei

AU - Zhang, Yin

AU - Ma, Yijun

AU - Rahmani, Ahmed

PY - 2017/12

Y1 - 2017/12

N2 - At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.

AB - At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.

KW - Adsorption reliability

KW - Biped wall climbing robot

KW - Genetic algorithm

KW - Torque optimization

UR - https://www.scopus.com/pages/publications/85071293266

U2 - 10.1109/ICCTEC.2017.00227

DO - 10.1109/ICCTEC.2017.00227

M3 - 会议稿件

AN - SCOPUS:85071293266

T3 - Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017

SP - 1030

EP - 1035

BT - Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017

Y2 - 18 December 2017 through 20 December 2017

ER -

Zhan Q, Yang L, Zhang Y, Ma Y, Rahmani A. Research on torque optimization of biped wall climbing robot based on genetic algorithm. In Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1030-1035. 8789151. (Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017). doi: 10.1109/ICCTEC.2017.00227

Research on torque optimization of biped wall climbing robot based on genetic algorithm

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

Other files and links

Fingerprint

Cite this