This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

中文翻译：

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基于多目标进化JAYA算法优化双足机器人稳定步态规划

本文提出了一种新的稳定的双足步行模式生成器，具有预设步长值，通过多目标 JAYA 算法进行优化。Biped 机器人被建模为由 10 个关节连接的 11 个链接的动力学链。应用 Biped 的反向运动学以导出指定的 Biped 臀部和脚部位置。充分研究了与 Biped 步行稳定性和 Biped 遵循预设步长大小相关的两个目标，并获得了 Pareto 最优解的前沿。为了证明所提出的多目标 JAYA 的有效性和优越性，将结果与 MO-PSO 和 MO-NSGA-2 优化方法的结果进行了比较。