Application of the "Alliance Algorithm" to Energy Constrained Gait Optimization
نویسندگان
چکیده
This paper deals with the problem of energy constrained gait optimization for bipedal walking. We present a solution to this problem obtained by applying a recently introduced heuristic method, the Alliance Algorithm (AA), and compare its performance against a Genetic Algorithm (GA). We show experimentally that the intrinsic ability of the AA to handle hard constraints enables it to find solutions significantly better than the GA. Also with the constraint removed the AA show more reliable optimization results. Finally, we show that the final gait obtained through this method outperforms most solutions to this problem presented in previous works, in terms of walking speed.
منابع مشابه
An Energy-efficient Mathematical Model for the Resource-constrained Project Scheduling Problem: An Evolutionary Algorithm
In this paper, we propose an energy-efficient mathematical model for the resource-constrained project scheduling problem to optimize makespan and consumption of energy, simultaneously. In the proposed model, resources are speed-scaling machines. The problem is NP-hard in the strong sense. Therefore, a multi-objective fruit fly optimization algorithm (MOFOA) is developed. The MOFOA uses the VIKO...
متن کاملStock Portfolio-Optimization Model by Mean-Semi-Variance Approach Using of Firefly Algorithm and Imperialist Competitive Algorithm
Selecting approaches with appropriate accuracy and suitable speed for the purpose of making decision is one of the managers’ challenges. Also investing decision is one of the main decisions of managers and it can be referred to securities transaction in financial markets which is one of the investments approaches. When some assets and barriers of real world have been considered, optimization of...
متن کاملConstrained Nonlinear Optimal Control via a Hybrid BA-SD
The non-convex behavior presented by nonlinear systems limits the application of classical optimization techniques to solve optimal control problems for these kinds of systems. This paper proposes a hybrid algorithm, namely BA-SD, by combining Bee algorithm (BA) with steepest descent (SD) method for numerically solving nonlinear optimal control (NOC) problems. The proposed algorithm includes th...
متن کاملConstrained Multi-Objective Optimization Problems in Mechanical Engineering Design Using Bees Algorithm
Many real-world search and optimization problems involve inequality and/or equality constraints and are thus posed as constrained optimization problems. In trying to solve constrained optimization problems using classical optimization methods, this paper presents a Multi-Objective Bees Algorithm (MOBA) for solving the multi-objective optimal of mechanical engineering problems design. In the pre...
متن کاملA New Hybrid Flower Pollination Algorithm for Solving Constrained Global Optimization Problems
Global optimization methods play an important role to solve many real-world problems. Flower pollination algorithm (FP) is a new nature-inspired algorithm, based on the characteristics of flowering plants. In this paper, a new hybrid optimization method called hybrid flower pollination algorithm (FPPSO) is proposed. The method combines the standard flower pollination algorithm (FP) with the par...
متن کامل