Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search

In this brief, we presented a framework for the trajectory optimization of the 5-link Biped Robot using the Beetle Antennae Search (BAS) algorithm. The biped robot is highly non-linear and has complex dynamical modeling. It is challenging to obtain a closed-form solution for the Robot. The robot modeling has two stages, i.e., the optimal trajectory generation and the robust control of a robot. The conventional methodologies treat both problems...