Motion control with parameter optimization by genetic algorithm

Walking is a fundamental action for everyday life. In order to support people with walking disabilities to perform walking rehabilitation, an omni-directional walker, which is able to realize diverse motion groups, has been developed. In a previous study, to improve the path tracking accuracy, an adaptive control algorithm was developed to deal with the center of gravity shift and the load changes caused by the users. However, the control parameters in the nonlinear adaptive control law were manually adjusted. In this paper, a genetic algorithm for automatic adjustment of the adaptive control parameters is proposed. Simulation is executed. The simulation results verify the effectiveness of the parameter optimization using genetic algorithm.