JACIII Vol.11 No.8 pp. 956-963
doi: 10.20965/jaciii.2007.p0956


Particle Swarm Optimization for Jump Height Maximization of a Serial Link Robot

Takeshi Matsui*, Masatoshi Sakawa*, Takeshi Uno*, Kosuke Kato*,
Mitsuru Higashimori**, and Makoto Kaneko**

*Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashihiroshima-shi 739-8527, Japan

**Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita-shi 565-0871, Japan

March 15, 2007
May 23, 2007
October 20, 2007
serial link robot, jump height maximization, nonlinear programming, particle swarm optimization

In this paper, we focus on the maximization of the height of jump of a serial link robot. The jump height maximization problem is formulated as a nonlinear programming problem, where torque patterns to drive joints in the robot are decision variables and the objective function is an implicit function whose value is obtained as an output of a simulator. As a previous reasearch, an approximate solution method using a genetic algorithm was proposed. In the research, some interesting joint drive torque patterns were found by the method, but it costed much time to obtain a drive torque pattern. In order to shorten the computational time, in this paper, we propose a new solution method using a particle swarm optimization (PSO) technique.

Cite this article as:
Takeshi Matsui, Masatoshi Sakawa, Takeshi Uno, Kosuke Kato,
Mitsuru Higashimori, and Makoto Kaneko, “Particle Swarm Optimization for Jump Height Maximization of a Serial Link Robot,” J. Adv. Comput. Intell. Intell. Inform., Vol.11, No.8, pp. 956-963, 2007.
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Last updated on Jan. 19, 2021