期刊名称：International Journal of Computer Science Issues
印刷版ISSN：1694-0784
电子版ISSN：1694-0814
出版年度：2012
卷号：9
期号：4
出版社：IJCSI Press
摘要：Genetic Algorithm (GA) is a very useful tool to search and optimize many engineering and scientific problems. In this paper, a real time enhanced biomedical model of humanoid structure is developed in MSC visual Nastran to assist the paraplegic patient. The complexity of the model is driven by the needs that the model parameters must be estimated for an eventual individual with disability. After the development of humanoid structure an inverse model is designed to estimate the joint torques. The reference trajectories of the humanoid model are obtained from MSC visual Nastran.The controllers are designed in Matlab/ Simulink for four joints which are manually tuned simultaneously to obtain the results. Afterwards, GA is used to tune the PID controllers to find the optimal solutions which are compared with manually tuned PIDs. The results are shown and hence it is proved that GA has given a better optimized control system.
关键词：Genetic Algorithm; PID; Inverted Pendulum; Optimization; Walking Movement
