English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

In the near future, the humanoid robots will associate and work with human. They can help us carrying objects in our homes and offices on uneven and inclined floors. If they are oscillated, they could fall on the ground causing damages to the objects and themselves. To prevent this problem, there must be methods for humanoid robot to walk and carry objects. Therefore, this research proposes an optimal path design for humanoid robot to walk and carry objects on inclined planes with changing slopes. The experiment simulates this situation for the humanoid (Bioloid Premium Type A) robot. This commercial humanoid robot has 18 Degree of Freedoms (DOFs). With such complexity of DOFs, This work also proposed a multiobjective optimization to determine how it walks and carries objects on inclined planes with changing slopes. The strategy using Multi-objective Whale optimization algorithm (MOWOA) with non-dominated solution and decision making by the weighted sum method (WSM). Two objective functions were employed; 1) maximum postural stability of a humanoid robot walk, 2) the minimum error oscillating of the object.

Multi-Objective Whale Optimization Algorithm of Humanoid Robot Walking and Carry Objects on Inclined Planes