The Optimization of Genetic Algorithm Based on Hydraulic Cylinder Position of the Exoskeleton Robot

DOI

10.2991/icacie-16.2016.21How to use a DOI?

Keywords

The exoskeleton robot, Genetic algorithm, Mathematical model, Nonlinear programming, Optimization

Abstract

Human walking with multiple joints movement, The degrees of freedom is more, Movement is complicated, multi-objective and multiple constraints of continuous function, Common optimization algorithm is required more design variables and large range of computing information, convergence difficulties are existed in these methods , easy to be fell into local extremum, making the optimization results appear deviation. In order to solve optimization problem of continuous function, the mathematical model of hydraulic cylinder and the key joints about exoskeleton robot is established, improved genetic algorithm which combined a nonlinear programming problem with genetic algorithm is applied to optimize exoskeleton mathematical model, the installation position size of the hydraulic cylinder and hydraulic cylinder work pressure was received, And the optimization results are further analyzed to get the final hydraulic cylinder position size.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Qingchao Yue
AU  - Yi Zheng
AU  - Hang Su
AU  - Peisi Zhong
AU  - Kunhua Liu
PY  - 2016/10
DA  - 2016/10
TI  - The Optimization of Genetic Algorithm Based on Hydraulic Cylinder Position of the Exoskeleton Robot
BT  - Proceedings of the 2016 International Conference on Automatic Control and Information Engineering
PB  - Atlantis Press
SP  - 88
EP  - 91
SN  - 2352-5401
UR  - https://doi.org/10.2991/icacie-16.2016.21
DO  - 10.2991/icacie-16.2016.21
ID  - Yue2016/10
ER  -