Dynamic performance evaluation of evolutionary multi-objective optimization algorithms for gait cycle optimization of a 25-DOFs NAO humanoid robot
Researchers are increasingly using optimization methods to achieve optimal dynamic performance of humanoid robots, often involving multiple conflicting objectives. Multi-objective optimization algorithms (MOAs) aim to find a Pareto front of optimal solutions, but selecting the best algorithm based o...
Saved in:
| Published in: | Swarm and evolutionary computation Vol. 99; p. 102144 |
|---|---|
| Main Authors: | , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Elsevier B.V
01.12.2025
|
| Subjects: | |
| ISSN: | 2210-6502 |
| Online Access: | Get full text |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Abstract | Researchers are increasingly using optimization methods to achieve optimal dynamic performance of humanoid robots, often involving multiple conflicting objectives. Multi-objective optimization algorithms (MOAs) aim to find a Pareto front of optimal solutions, but selecting the best algorithm based on solution quality and computational efficiency remains challenging. This study comprehensively evaluates MOAs from different paradigms: swarm intelligence (CMOPSO), genetic algorithms (NSGA-II, DCNSGA-III), and decomposition-based approaches (CMOEA/D) for optimizing the gait cycle of a 25 DOF NAO humanoid robot during single support phase (SSP) and double support phase (DSP) scenarios. The algorithms’ convergence, diversity, and constraint-handling capabilities are systematically analyzed in solving the gait generation problem. The bi-objective optimization simultaneously minimizes power consumption and maximizes dynamic stability subject to eight functional constraints with 12-13 decision parameters. Through performance evaluation using running inverted generational distance (IGD) and hypervolume (HV) metrics across eleven independent runs of each algorithm, NSGA-II emerges as the most suitable algorithm, demonstrating superior convergence and solution quality, while CMOPSO shows competitive performance with faster initial convergence. DCNSGA-III exhibits moderate performance with constraint-handling difficulties, and CMOEA/D demonstrates poor convergence characteristics requiring significantly more computational resources. Two distinct knee regions emerge during both SSP and DSP, representing optimal trade-off solutions, with a systematic framework provided for practitioners to select appropriate gait parameters based on operational priorities. The running IGD metric combined with HV validation demonstrates effectiveness in providing robust algorithmic insights, enabling practitioners to select suitable algorithms for similar complex real-world optimization problems. |
|---|---|
| AbstractList | Researchers are increasingly using optimization methods to achieve optimal dynamic performance of humanoid robots, often involving multiple conflicting objectives. Multi-objective optimization algorithms (MOAs) aim to find a Pareto front of optimal solutions, but selecting the best algorithm based on solution quality and computational efficiency remains challenging. This study comprehensively evaluates MOAs from different paradigms: swarm intelligence (CMOPSO), genetic algorithms (NSGA-II, DCNSGA-III), and decomposition-based approaches (CMOEA/D) for optimizing the gait cycle of a 25 DOF NAO humanoid robot during single support phase (SSP) and double support phase (DSP) scenarios. The algorithms’ convergence, diversity, and constraint-handling capabilities are systematically analyzed in solving the gait generation problem. The bi-objective optimization simultaneously minimizes power consumption and maximizes dynamic stability subject to eight functional constraints with 12-13 decision parameters. Through performance evaluation using running inverted generational distance (IGD) and hypervolume (HV) metrics across eleven independent runs of each algorithm, NSGA-II emerges as the most suitable algorithm, demonstrating superior convergence and solution quality, while CMOPSO shows competitive performance with faster initial convergence. DCNSGA-III exhibits moderate performance with constraint-handling difficulties, and CMOEA/D demonstrates poor convergence characteristics requiring significantly more computational resources. Two distinct knee regions emerge during both SSP and DSP, representing optimal trade-off solutions, with a systematic framework provided for practitioners to select appropriate gait parameters based on operational priorities. The running IGD metric combined with HV validation demonstrates effectiveness in providing robust algorithmic insights, enabling practitioners to select suitable algorithms for similar complex real-world optimization problems. |
| ArticleNumber | 102144 |
| Author | Gupta, Pushpendra Pratihar, Dilip Kumar Deb, Kalyanmoy |
| Author_xml | – sequence: 1 givenname: Pushpendra orcidid: 0000-0001-9557-8099 surname: Gupta fullname: Gupta, Pushpendra email: pushpendra050@iitkgp.ac.in organization: Mechanical Engineering Department, Indian Institute of Technology Kharagpur, Kharagpur 721302, India – sequence: 2 givenname: Dilip Kumar orcidid: 0000-0001-8585-5910 surname: Pratihar fullname: Pratihar, Dilip Kumar email: dkpra@mech.iitkgp.ac.in organization: Mechanical Engineering Department, Indian Institute of Technology Kharagpur, Kharagpur 721302, India – sequence: 3 givenname: Kalyanmoy orcidid: 0000-0001-7402-9939 surname: Deb fullname: Deb, Kalyanmoy email: kdeb@egr.msu.edu organization: Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA |
| BookMark | eNp9kE1OwzAQhb0oEqX0BGx8gRTbjfOzYFG1FJAquoG1ZTuT1lESV3YSVI7BiXEJKxbMZjTWe2_G3w2atLYFhO4oWVBCk_tq4T9gsAtGGA8vjMbxBE0ZoyRKOGHXaO59RUIlQcDzKfranFvZGI1P4ErrGtlqwDDIupedsS22ZZhs3V8G6c646evORFZVoDszALanzjTmcxTL-mCd6Y6NxyELH6TpsD7r-o8sZErMeLTZbz1-Xe3xsQ97rSmws8p2t-iqlLWH-W-fofft49v6Odrtn17Wq12kw-ldBKooU8UV02WREkLTNFM6WXKdqRgIibO4UKwAUpK8kDmJleaME2A0B5klnC5naDnmame9d1CKkzNN-KSgRFxoikr80BQXmmKkGVwPowvCaYMBJ7w2EKgVxgUmorDmX_83cQmGfQ |
| Cites_doi | 10.1016/j.robot.2009.10.004 10.1109/ICIINFS.2008.4798359 10.1007/s40430-022-03719-0 10.1109/CEC48606.2020.9185546 10.1016/j.asoc.2008.04.004 10.1142/S0219843609001905 10.1016/j.ins.2017.10.037 10.1016/j.asoc.2020.106088 10.1109/TEVC.2004.826067 10.1017/S0263574720000235 10.1243/PIME_PROC_1996_210_184_02 10.1109/TEVC.2003.810758 10.1109/TCYB.2020.3031642 10.1142/S0219843604000083 10.1109/TEVC.2007.892759 10.1145/3377929.3398082 10.1142/S0219843607001254 10.3390/mi13040616 10.1115/1.4011045 10.1109/4235.996017 10.1016/j.asoc.2018.04.023 10.1142/S0219843618500226 10.1080/0305215X.2025.2502574 10.1142/S0219843607001266 10.1016/j.asoc.2022.109001 10.1016/j.neucom.2013.07.009 10.1080/03052150500066695 10.1109/TEVC.2022.3144880 10.1016/j.asoc.2017.05.012 10.1016/j.asoc.2021.108108 10.1109/MCI.2017.2742868 10.1016/j.asoc.2020.106581 10.1007/s10846-016-0384-6 10.1142/S0219843620500140 10.1007/s13042-017-0660-1 10.1016/j.eswa.2022.119423 10.3182/20130606-3-XK-4037.00032 10.1109/ICCAS.2015.7364800 10.1007/s10846-013-0015-4 10.1145/2980179.2982440 10.1016/j.isatra.2021.06.017 10.1142/S0219843618500044 10.1016/j.asoc.2020.106076 10.1016/j.asoc.2023.110236 10.1007/s40997-017-0138-5 10.1017/S0263574700018294 10.1016/j.asoc.2013.05.013 10.1109/4235.585893 10.1109/CERMA.2011.37 10.1016/j.asoc.2022.108588 10.1016/j.mechmachtheory.2017.10.004 |
| ContentType | Journal Article |
| Copyright | 2025 Elsevier B.V. |
| Copyright_xml | – notice: 2025 Elsevier B.V. |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.swevo.2025.102144 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Computer Science |
| ExternalDocumentID | 10_1016_j_swevo_2025_102144 S2210650225003013 |
| GroupedDBID | --K --M .~1 0R~ 1~. 1~5 4.4 457 4G. 5VS 7-5 8P~ AAAKF AAEDT AAEDW AAIKJ AAKOC AALRI AAOAW AAQFI AARIN AATLK AATTM AAXKI AAXUO AAYFN AAYWO ABAOU ABBOA ABGRD ABJNI ABMAC ABUCO ABWVN ABXDB ACDAQ ACGFS ACLOT ACNNM ACRLP ACRPL ACVFH ACZNC ADBBV ADCNI ADEZE ADMUD ADNMO ADQTV ADTZH AEBSH AECPX AEIPS AEKER AENEX AEQOU AEUPX AFJKZ AFPUW AFTJW AFXIZ AGHFR AGUBO AGYEJ AHJVU AHZHX AIALX AIEXJ AIGII AIIUN AIKHN AITUG AKBMS AKRWK AKYEP ALMA_UNASSIGNED_HOLDINGS AMRAJ ANKPU AOUOD APLSM APXCP ARUGR AXJTR BJAXD BKOJK BLXMC EBS EFJIC EFKBS EFLBG EJD FDB FEDTE FIRID FNPLU FYGXN GBLVA GBOLZ HAMUX HVGLF HZ~ J1W JJJVA KOM M41 MHUIS MO0 N9A O-L O9- OAUVE P-8 P-9 PC. Q38 ROL SDF SES SPC SPCBC SSA SSB SSD SST SSV SSW SSZ T5K ~G- ~HD AAYXX CITATION |
| ID | FETCH-LOGICAL-c255t-ebdf7b5b2cfd7001778bc635c8b4e00484db2de0f09da904bc5250e219ea86513 |
| ISICitedReferencesCount | 0 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001570470200001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 2210-6502 |
| IngestDate | Sat Nov 29 07:30:22 EST 2025 Sat Oct 11 16:51:37 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Performance metrics Multi-objective optimization Swarm intelligence Evolutionary algorithms NAO humanoid robot |
| Language | English |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c255t-ebdf7b5b2cfd7001778bc635c8b4e00484db2de0f09da904bc5250e219ea86513 |
| ORCID | 0000-0001-7402-9939 0000-0001-8585-5910 0000-0001-9557-8099 |
| ParticipantIDs | crossref_primary_10_1016_j_swevo_2025_102144 elsevier_sciencedirect_doi_10_1016_j_swevo_2025_102144 |
| PublicationCentury | 2000 |
| PublicationDate | December 2025 2025-12-00 |
| PublicationDateYYYYMMDD | 2025-12-01 |
| PublicationDate_xml | – month: 12 year: 2025 text: December 2025 |
| PublicationDecade | 2020 |
| PublicationTitle | Swarm and evolutionary computation |
| PublicationYear | 2025 |
| Publisher | Elsevier B.V |
| Publisher_xml | – name: Elsevier B.V |
| References | Uno, Kawato, Suzuki (b16) 1989; 61 Zhang, Li (b56) 2007; 11 Dau, Chew, Poo (b14) 2009; 6 Bajrami, Dermaku, Shala, Likaj (b70) 2013; 15 Luo, Xia, Zhu (b42) 2018; 15 Sanprasit (b26) 2020; 9 Coello, Pulido, Lechuga (b81) 2004; 8 Li-Yang Wang, Liu, Xiao-Jie Zeng, Zhang (b12) 2011 Kashyap, Parhi, Kumar (b69) 2020; 17 Wang, Tang, Ou, Xu (b65) 2012 Gupta, Pratihar, Deb (b84) 2025 Ajeil, Ibraheem, Sahib, Humaidi (b5) 2020; 89 C. Niehaus, T. Röfer, T. Laue, Gait optimization on a humanoid robot using particle swarm optimization, in: Proceedings of the Second Workshop on Humanoid Soccer Robots in Conjunction with the, 2007, pp. 1–7. Vundavilli, Sahu, Pratihar (b38) 2007; 4 Muni, Parhi, Kumar (b17) 2021; 39 Yu, Ma, Jin, Du, Liu, Zhang (b86) 2022; 26 Fu, Gonzalez, Lee (b73) 1987 Liu, Liu, Wang, Zhao, Lu (b19) 2022; 13 Kajita, Hirukawa, Harada, Yokoi (b77) 2014 Lv, Chai, Xia (b66) 2016; 35 Raj, Semwal, Nandi (b4) 2019; 10 Mahmoodabadi, Taherkhorsandi (b7) 2020; 4 Denavit, Hartenberg (b59) 1955 Sakka, Poubel, Cehajic (b64) 2014 Gupta, Pratihar, Deb (b85) 2025 (b75) 2023 Paul, Roberts, Lipson, Cuevas (b80) 2005 Leng, Piao, Chang, He, Zhu (b18) 2021; 41 Lee, Yosinski, Glette, Lipson, Clune (b79) 2013 Mahmoodabadi, Taherkhorsandi, Bagheri (b23) 2014; 124 SoftBank Robotics Developer Center (b58) 2021 Kashyap, Parhi, Muni, Pandey (b48) 2020; 96 Jiao, Zeng, Li, Yang, Ong (b55) 2020; 51 Ishibuchi, Masuda, Tanigaki, Nojima (b32) 2015 Vundavilli, Sahu, Pratihar (b37) 2007; 4 Mu, Wu (b43) 2003; Vol. 6 Gong, Zhao, Liang, Li, Zhu, Xu, Tai, Qiu, He, Guo (b15) 2018 Deb, Tiwari (b22) 2005; 37 Seo, Yoon (b76) 1995; 13 C. Hernández-Santos, R. Soto, E. Rodriguez, Design and Dynamic Modeling of Humanoid Biped Robot e-Robot, in: 2011 IEEE Electronics, Robotics and Automotive Mechanics Conference, (ISSN: null) 2011, pp. 191–196. Silva, Machado (b44) 1999; Vol. 1 Russo, Herrero, Altuzarra, Ceccarelli (b20) 2018; 120 Riquelme, Von Lücken, Baran (b33) 2015 Hashemi, Khajepour (b62) 2017; 231 Kumar, Muni, Parhi (b49) 2020; 89 Gupta, Pratihar, Deb (b2) 2023 Muni, Parhi, Kumar, Sahu, Kumar (b51) 2022; 119 Van Veldhuizen (b34) 1999 Rajendra, Pratihar (b3) 2015; 40 Zitzler, Thiele, Laumanns, Fonseca, Da Fonseca (b31) 2003; 7 Alibeigi, Rabiee, Ahmadabadi (b63) 2017; 85 Kashyap, Parhi, Pandey (b24) 2022; 125 Channon, Hopkins, Pham (b45) 1996; 210 Farzaneh, Akbarzadeh, Akbari (b46) 2014; 14 Hashemi, Ghaffari Jadidi (b61) 2012 Khadiv, Ezati, Moosavian (b72) 2019; 43 Gong, Yan, Zuo (b10) 2010; 2010 Vikas, Parhi (b52) 2023; 140 Abedzadeh Maafi, Etemadi Haghighi, Mahmoodabadi (b8) 2022; 44 Kumar, Sahu, Parhi (b47) 2018; 68 Vikas, Parhi, Kashyap (b21) 2023; 215 Coello Coello, Reyes Sierra (b29) 2004 Folgheraiter, Aubakir (b71) 2018; 15 Tian, Cheng, Zhang, Jin (b82) 2017; 12 Kashyap, Parhi (b50) 2022; 124 Deb, Pratap, Agarwal, Meyarivan (b53) 2002; 6 Vundavilli, Pratihar (b40) 2009; 9 Tushar, P.R. Vundavilli, D.K. Pratihar, Dynamically Balanced Ascending Gait Generation of a Biped Robot Negotiating Staircase, in: 2008 IEEE Region 10 and the Third International Conference on Industrial and Information Systems, (ISSN: 2164-7011) 2008, pp. 1–6. Vundavilli, Pratihar (b41) 2010; 58 Gupta, Pratihar, Deb (b1) 2023 Mac, Copot, Tran, Keyser (b6) 2017; 59 T. Takagi, K. Takadama, H. Sato, Incremental lattice design of weight vector set, in: Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion, 2020, pp. 1486–1494. Lopes, Martins, Wanner, Deb (b27) 2020 Kulvanit, Chaiyaratana, Laowattana (b11) 2007 M. Rameez, L.A. Khan, Modeling and dynamic analysis of the biped robot, in: 2015 15th International Conference on Control, Automation and Systems, ICCAS, (ISSN: 2093-7121) 2015, pp. 1149–1153. Nishii, Ogawa, Suzuki (b78) 1998 Zitzler, Thiele (b30) 1998 Zhang, Zheng, Cheng, Qiu, Jin (b54) 2018; 427 Vukobratović, Borovac (b74) 2004; 1 SoftBank Robotics Developer Center (b57) 2021 Van Veldhuizen, Lamont (b28) 1998 Pratihar (b36) 2017 Wolpert, Macready (b25) 1997; 1 Kofinas, Orfanoudakis, Lagoudakis (b60) 2015; 77 Fernandes, Oliveira, Fonseca Neto (b9) 2022; 116 J. Blank, K. Deb, A Running Performance Metric and Termination Criterion for Evaluating Evolutionary Multi- and Many-objective Optimization Algorithms, in: 2020 IEEE Congress on Evolutionary Computation, CEC, 2020, pp. 1–8. Vundavilli (10.1016/j.swevo.2025.102144_b40) 2009; 9 Khadiv (10.1016/j.swevo.2025.102144_b72) 2019; 43 Sakka (10.1016/j.swevo.2025.102144_b64) 2014 Abedzadeh Maafi (10.1016/j.swevo.2025.102144_b8) 2022; 44 Van Veldhuizen (10.1016/j.swevo.2025.102144_b34) 1999 Lee (10.1016/j.swevo.2025.102144_b79) 2013 Folgheraiter (10.1016/j.swevo.2025.102144_b71) 2018; 15 Zitzler (10.1016/j.swevo.2025.102144_b31) 2003; 7 Vikas (10.1016/j.swevo.2025.102144_b52) 2023; 140 Kumar (10.1016/j.swevo.2025.102144_b47) 2018; 68 Zhang (10.1016/j.swevo.2025.102144_b54) 2018; 427 Mahmoodabadi (10.1016/j.swevo.2025.102144_b7) 2020; 4 Kajita (10.1016/j.swevo.2025.102144_b77) 2014 Gupta (10.1016/j.swevo.2025.102144_b1) 2023 Ajeil (10.1016/j.swevo.2025.102144_b5) 2020; 89 Coello Coello (10.1016/j.swevo.2025.102144_b29) 2004 Farzaneh (10.1016/j.swevo.2025.102144_b46) 2014; 14 Zhang (10.1016/j.swevo.2025.102144_b56) 2007; 11 Lopes (10.1016/j.swevo.2025.102144_b27) 2020 10.1016/j.swevo.2025.102144_b35 Kashyap (10.1016/j.swevo.2025.102144_b69) 2020; 17 Sanprasit (10.1016/j.swevo.2025.102144_b26) 2020; 9 Zitzler (10.1016/j.swevo.2025.102144_b30) 1998 10.1016/j.swevo.2025.102144_b39 Kashyap (10.1016/j.swevo.2025.102144_b24) 2022; 125 Li-Yang Wang (10.1016/j.swevo.2025.102144_b12) 2011 Kofinas (10.1016/j.swevo.2025.102144_b60) 2015; 77 Wang (10.1016/j.swevo.2025.102144_b65) 2012 Russo (10.1016/j.swevo.2025.102144_b20) 2018; 120 Van Veldhuizen (10.1016/j.swevo.2025.102144_b28) 1998 Raj (10.1016/j.swevo.2025.102144_b4) 2019; 10 Vikas (10.1016/j.swevo.2025.102144_b21) 2023; 215 Muni (10.1016/j.swevo.2025.102144_b51) 2022; 119 Nishii (10.1016/j.swevo.2025.102144_b78) 1998 Silva (10.1016/j.swevo.2025.102144_b44) 1999; Vol. 1 Alibeigi (10.1016/j.swevo.2025.102144_b63) 2017; 85 Denavit (10.1016/j.swevo.2025.102144_b59) 1955 10.1016/j.swevo.2025.102144_b83 Mac (10.1016/j.swevo.2025.102144_b6) 2017; 59 Kumar (10.1016/j.swevo.2025.102144_b49) 2020; 89 Vundavilli (10.1016/j.swevo.2025.102144_b38) 2007; 4 Hashemi (10.1016/j.swevo.2025.102144_b61) 2012 Gupta (10.1016/j.swevo.2025.102144_b84) 2025 Ishibuchi (10.1016/j.swevo.2025.102144_b32) 2015 SoftBank Robotics Developer Center (10.1016/j.swevo.2025.102144_b57) 2021 Gupta (10.1016/j.swevo.2025.102144_b2) 2023 Jiao (10.1016/j.swevo.2025.102144_b55) 2020; 51 Tian (10.1016/j.swevo.2025.102144_b82) 2017; 12 Vundavilli (10.1016/j.swevo.2025.102144_b37) 2007; 4 Mu (10.1016/j.swevo.2025.102144_b43) 2003; Vol. 6 Kulvanit (10.1016/j.swevo.2025.102144_b11) 2007 Fernandes (10.1016/j.swevo.2025.102144_b9) 2022; 116 Deb (10.1016/j.swevo.2025.102144_b22) 2005; 37 (10.1016/j.swevo.2025.102144_b75) 2023 Rajendra (10.1016/j.swevo.2025.102144_b3) 2015; 40 Riquelme (10.1016/j.swevo.2025.102144_b33) 2015 Deb (10.1016/j.swevo.2025.102144_b53) 2002; 6 10.1016/j.swevo.2025.102144_b13 Luo (10.1016/j.swevo.2025.102144_b42) 2018; 15 Kashyap (10.1016/j.swevo.2025.102144_b48) 2020; 96 Vundavilli (10.1016/j.swevo.2025.102144_b41) 2010; 58 Kashyap (10.1016/j.swevo.2025.102144_b50) 2022; 124 Liu (10.1016/j.swevo.2025.102144_b19) 2022; 13 Fu (10.1016/j.swevo.2025.102144_b73) 1987 Gupta (10.1016/j.swevo.2025.102144_b85) 2025 Gong (10.1016/j.swevo.2025.102144_b10) 2010; 2010 Coello (10.1016/j.swevo.2025.102144_b81) 2004; 8 Vukobratović (10.1016/j.swevo.2025.102144_b74) 2004; 1 Lv (10.1016/j.swevo.2025.102144_b66) 2016; 35 Bajrami (10.1016/j.swevo.2025.102144_b70) 2013; 15 Muni (10.1016/j.swevo.2025.102144_b17) 2021; 39 Leng (10.1016/j.swevo.2025.102144_b18) 2021; 41 Dau (10.1016/j.swevo.2025.102144_b14) 2009; 6 SoftBank Robotics Developer Center (10.1016/j.swevo.2025.102144_b58) 2021 Hashemi (10.1016/j.swevo.2025.102144_b62) 2017; 231 Paul (10.1016/j.swevo.2025.102144_b80) 2005 Channon (10.1016/j.swevo.2025.102144_b45) 1996; 210 Uno (10.1016/j.swevo.2025.102144_b16) 1989; 61 Yu (10.1016/j.swevo.2025.102144_b86) 2022; 26 Seo (10.1016/j.swevo.2025.102144_b76) 1995; 13 Pratihar (10.1016/j.swevo.2025.102144_b36) 2017 Mahmoodabadi (10.1016/j.swevo.2025.102144_b23) 2014; 124 10.1016/j.swevo.2025.102144_b67 Gong (10.1016/j.swevo.2025.102144_b15) 2018 Wolpert (10.1016/j.swevo.2025.102144_b25) 1997; 1 10.1016/j.swevo.2025.102144_b68 |
| References_xml | – start-page: 688 year: 2004 end-page: 697 ident: b29 article-title: A study of the parallelization of a coevolutionary multi-objective evolutionary algorithm publication-title: Mexican International Conference on Artificial Intelligence – volume: 51 start-page: 4834 year: 2020 end-page: 4847 ident: b55 article-title: Handling constrained many-objective optimization problems via problem transformation publication-title: IEEE Trans. Cybern. – volume: 10 start-page: 1997 year: 2019 end-page: 2013 ident: b4 article-title: Multiobjective optimized bipedal locomotion publication-title: Int. J. Mach. Learn. Cybern. – volume: 2010 year: 2010 ident: b10 article-title: A review of gait optimization based on evolutionary computation publication-title: Appl. Comput. Intell. Soft Comput. – start-page: 110 year: 2015 end-page: 125 ident: b32 article-title: Modified distance calculation in generational distance and inverted generational distance publication-title: Evolutionary Multi-Criterion Optimization: 8th International Conference, EMO 2015, GuimarÃes, Portugal, March 29–April 1, 2015. Proceedings, Part II 8 – volume: 120 start-page: 192 year: 2018 end-page: 202 ident: b20 article-title: Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg publication-title: Mech. Mach. Theory – year: 2014 ident: b77 publication-title: Introduction to Humanoid Robotics – start-page: 292 year: 1998 end-page: 301 ident: b30 article-title: Multiobjective optimization using evolutionary algorithms—a comparative case study publication-title: International Conference on Parallel Problem Solving from Nature – volume: 26 start-page: 1452 year: 2022 end-page: 1472 ident: b86 article-title: A survey on knee-oriented multiobjective evolutionary optimization publication-title: IEEE Trans. Evol. Comput. – volume: 15 start-page: 69 year: 2013 end-page: 73 ident: b70 article-title: Kinematics and dynamics modelling of the biped robot publication-title: IFAC Proc. Vol. (IFAC-PapersOnline) – volume: 41 start-page: 4307 year: 2021 end-page: 4318 ident: b18 article-title: Parameter design of biped robot motion system based on multi-objective optimization publication-title: J. Intell. Fuzzy Systems – volume: 215 year: 2023 ident: b21 article-title: Humanoid robot path planning using memory-based gravity search algorithm and enhanced differential evolution approach in a complex environment publication-title: Expert Syst. Appl. – volume: 125 start-page: 591 year: 2022 end-page: 613 ident: b24 article-title: Multi-objective optimization technique for trajectory planning of multi-humanoid robots in cluttered terrain publication-title: ISA Trans. – volume: 68 start-page: 565 year: 2018 end-page: 585 ident: b47 article-title: A hybridized regression-adaptive ant colony optimization approach for navigation of humanoids in a cluttered environment publication-title: Appl. Soft Comput. – volume: 116 year: 2022 ident: b9 article-title: Trajectory planning of autonomous mobile robots applying a particle swarm optimization algorithm with peaks of diversity publication-title: Appl. Soft Comput. – volume: 124 start-page: 194 year: 2014 end-page: 209 ident: b23 article-title: Optimal robust sliding mode tracking control of a biped robot based on ingenious multi-objective PSO publication-title: Neurocomputing – start-page: 671 year: 2012 end-page: 688 ident: b61 article-title: Dynamic modeling and control study of the NAO biped robot with improved trajectory planning publication-title: Mater. Complex Behav. II: Prop. Non-Class. Mater. New Technol. – start-page: 47 year: 2023 end-page: 62 ident: b1 article-title: A knee-based multi-objective optimization for gait cycle of 25-DOF NAO humanoid robot publication-title: International Conference on Soft Computing for Problem-Solving – volume: 44 start-page: 428 year: 2022 ident: b8 article-title: Pareto optimal design of a fuzzy adaptive sliding mode controller for a three-link model of a biped robot via the multi-objective improved team game algorithm publication-title: J. Braz. Soc. Mech. Sci. Eng. – volume: 43 start-page: 37 year: 2019 end-page: 52 ident: b72 article-title: A computationally efficient inverse dynamics solution based on virtual work principle for biped robots publication-title: Iran. J. Sci. Technol. Trans. Mech. Eng. – start-page: 427 year: 2025 end-page: 435 ident: b84 article-title: A comparative study of Pareto front of optimal solution set for NAO robot’s gait optimization using the dominance move indicator based on mixed integer programming publication-title: National Conference on Multidisciplinary Analysis and Optimization – volume: 77 start-page: 251 year: 2015 end-page: 264 ident: b60 article-title: Complete analytical forward and inverse kinematics for the NAO humanoid robot publication-title: J. Intell. Robot. Syst. – volume: 4 start-page: 183 year: 2020 end-page: 192 ident: b7 article-title: Intelligent control of biped robots: Optimal fuzzy tracking control via multi-objective particle swarm optimization and genetic algorithms publication-title: AUT J. Mech. Eng. – volume: 14 start-page: 167 year: 2014 end-page: 180 ident: b46 article-title: Online bio-inspired trajectory generation of seven-link biped robot based on T–S fuzzy system publication-title: Appl. Soft Comput. – volume: 35 year: 2016 ident: b66 article-title: Data-driven inverse dynamics for human motion publication-title: ACM Trans. Graph. – volume: 4 start-page: 777 year: 2007 end-page: 814 ident: b37 article-title: Online dynamically balanced ascending and descending gait generations of a biped robot using soft computing publication-title: Int. J. Humanoid Robot. – start-page: 5 year: 2014 end-page: p ident: b64 article-title: Tasks prioritization for whole-body realtime imitation of human motion by humanoid robots publication-title: Digital Intelligence – start-page: 216 year: 2005 end-page: 222 ident: b80 article-title: Gait production in a tensegrity based robot publication-title: ICAR’05. Proceedings., 12th International Conference on Advanced Robotics, 2005. – year: 1955 ident: b59 article-title: A kinematic notation for lower-pair mechanisms based on matrices publication-title: J. Appl. Mech. – volume: 85 start-page: 27 year: 2017 end-page: 45 ident: b63 article-title: Inverse kinematics based human mimicking system using skeletal tracking technology publication-title: J. Intell. Robot. Syst. – year: 2021 ident: b57 article-title: Kinematics data: Links, joints, and body frames – year: 1987 ident: b73 article-title: Robotics: Control, Sensing, Vision and Intelligence – start-page: 201 year: 2018 end-page: 209 ident: b15 article-title: Generation of walking motions for the biped ascending slopes based on genetic algorithm publication-title: International Conference on Swarm Intelligence – volume: 231 start-page: 57 year: 2017 end-page: 73 ident: b62 article-title: Kinematic and three-dimensional dynamic modeling of a biped robot publication-title: Proc. Inst. Mech. Eng. Part K: J. Multi-Body Dyn. – year: 2020 ident: b27 article-title: Analyzing dominance move (MIP-DoM) indicator for multi-and many-objective optimization – volume: 37 start-page: 325 year: 2005 end-page: 350 ident: b22 article-title: Multi-objective optimization of a leg mechanism using genetic algorithms publication-title: Eng. Optim. – volume: 4 start-page: 717 year: 2007 end-page: 751 ident: b38 article-title: Dynamically balanced ascending and descending gaits of a two-legged robot publication-title: Int. J. Humanoid Robot. – volume: 89 year: 2020 ident: b5 article-title: Multi-objective path planning of an autonomous mobile robot using hybrid PSO-MFB optimization algorithm publication-title: Appl. Soft Comput. – volume: 210 start-page: 177 year: 1996 end-page: 184 ident: b45 article-title: A variational approach to the optimization of gait for a bipedal robot publication-title: Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Sci. – start-page: 221 year: 1998 end-page: 228 ident: b28 article-title: Evolutionary computation and convergence to a pareto front publication-title: Late Breaking Papers At the Genetic Programming 1998 Conference – volume: 11 start-page: 712 year: 2007 end-page: 731 ident: b56 article-title: MOEA/D: A multiobjective evolutionary algorithm based on decomposition publication-title: IEEE Trans. Evol. Comput. – start-page: 4019 year: 2007 end-page: 4026 ident: b11 article-title: Biped fast walking gait shaping via evolutionary multi-objective optimization publication-title: 2007 IEEE Congress on Evolutionary Computation – volume: 12 start-page: 73 year: 2017 end-page: 87 ident: b82 article-title: PlatEMO: A MATLAB platform for evolutionary multi-objective optimization publication-title: IEEE Comput. Intell. Mag. – volume: 13 start-page: 616 year: 2022 ident: b19 article-title: Path planning algorithm for multi-locomotion robot based on multi-objective genetic algorithm with elitist strategy publication-title: Micromachines – volume: 9 start-page: 1548 year: 2020 end-page: 1559 ident: b26 article-title: Multi-objective optimization algorithm of humanoid robot walking on a narrow beam publication-title: Int. J. Mech. Eng. Robot. Res. – reference: C. Niehaus, T. Röfer, T. Laue, Gait optimization on a humanoid robot using particle swarm optimization, in: Proceedings of the Second Workshop on Humanoid Soccer Robots in Conjunction with the, 2007, pp. 1–7. – start-page: 3692 year: 2012 end-page: 3697 ident: b65 article-title: A real-time human imitation system publication-title: Proceedings of the 10th World Congress on Intelligent Control and Automation – volume: 15 year: 2018 ident: b42 article-title: Impact dynamics-based torso control for dynamic walking biped robots publication-title: Int. J. Humanoid Robot. – volume: 13 start-page: 461 year: 1995 end-page: 468 ident: b76 article-title: Design of a robust dynamic gait of the biped using the concept of dynamic stability margin publication-title: Robotica – start-page: 1 year: 2015 end-page: 11 ident: b33 article-title: Performance metrics in multi-objective optimization publication-title: 2015 Latin American Computing Conference – year: 1999 ident: b34 article-title: Multiobjective Evolutionary Algorithms: Classifications, Analyses, and New Innovations – volume: 39 start-page: 123 year: 2021 end-page: 136 ident: b17 article-title: Improved motion planning of humanoid robots using bacterial foraging optimization publication-title: Robotica – start-page: 1 year: 2025 end-page: 39 ident: b85 article-title: Many-objective robust gait optimization for a 25-DOFs NAO robot using NSGA-III publication-title: Eng. Optim. – volume: 6 start-page: 609 year: 2009 end-page: 629 ident: b14 article-title: Achieving energy-efficient bipedal walking trajectory through GA-based optimization of key parameters publication-title: Int. J. Humanoid Robot. – year: 2023 ident: b75 article-title: NAO Version 6 description – volume: 6 start-page: 182 year: 2002 end-page: 197 ident: b53 article-title: A fast and elitist multiobjective genetic algorithm: NSGA-II publication-title: IEEE Trans. Evol. Comput. – year: 2021 ident: b58 article-title: The masses and COM positions for NAO – volume: 427 start-page: 63 year: 2018 end-page: 76 ident: b54 article-title: A competitive mechanism based multi-objective particle swarm optimizer with fast convergence publication-title: Inform. Sci. – volume: 15 year: 2018 ident: b71 article-title: Design and modeling of a lightweight and low power consumption full-scale biped robot publication-title: Int. J. Humanoid Robot. – volume: 7 start-page: 117 year: 2003 end-page: 132 ident: b31 article-title: Performance assessment of multiobjective optimizers: An analysis and review publication-title: IEEE Trans. Evol. Comput. – volume: Vol. 6 start-page: 4926 year: 2003 end-page: 4931 ident: b43 article-title: A complete dynamic model of five-link bipedal walking publication-title: Proceedings of the 2003 American Control Conference, 2003 – volume: 96 year: 2020 ident: b48 article-title: A hybrid technique for path planning of humanoid robot NAO in static and dynamic terrains publication-title: Appl. Soft Comput. – volume: 59 start-page: 68 year: 2017 end-page: 76 ident: b6 article-title: A hierarchical global path planning approach for mobile robots based on multi-objective particle swarm optimization publication-title: Appl. Soft Comput. – reference: M. Rameez, L.A. Khan, Modeling and dynamic analysis of the biped robot, in: 2015 15th International Conference on Control, Automation and Systems, ICCAS, (ISSN: 2093-7121) 2015, pp. 1149–1153. – volume: 9 start-page: 191 year: 2009 end-page: 208 ident: b40 article-title: Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces publication-title: Appl. Soft Comput. – start-page: 540 year: 2013 end-page: 549 ident: b79 article-title: Evolving gaits for physical robots with the hyperneat generative encoding: The benefits of simulation publication-title: Applications of Evolutionary Computation: 16th European Conference, EvoApplications 2013, Vienna, Austria, April 3-5, 2013. Proceedings 16 – reference: J. Blank, K. Deb, A Running Performance Metric and Termination Criterion for Evaluating Evolutionary Multi- and Many-objective Optimization Algorithms, in: 2020 IEEE Congress on Evolutionary Computation, CEC, 2020, pp. 1–8. – reference: T. Takagi, K. Takadama, H. Sato, Incremental lattice design of weight vector set, in: Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion, 2020, pp. 1486–1494. – year: 2017 ident: b36 article-title: Fundamentals of Robotics – volume: 40 start-page: 549 year: 2015 end-page: 575 ident: b3 article-title: Analysis of double support phase of biped robot and multi-objective optimization using genetic algorithm and particle swarm optimization algorithm publication-title: Adhan – volume: 1 start-page: 67 year: 1997 end-page: 82 ident: b25 article-title: No free lunch theorems for optimization publication-title: IEEE Trans. Evol. Comput. – reference: Tushar, P.R. Vundavilli, D.K. Pratihar, Dynamically Balanced Ascending Gait Generation of a Biped Robot Negotiating Staircase, in: 2008 IEEE Region 10 and the Third International Conference on Industrial and Information Systems, (ISSN: 2164-7011) 2008, pp. 1–6. – year: 2023 ident: b2 article-title: Analysis and optimization of gait cycle of 25-DOF NAO robot using particle swarm optimization and genetic algorithms publication-title: Int. J. Humanoid Robot. – volume: 119 year: 2022 ident: b51 article-title: Towards motion planning of humanoids using a fuzzy embedded neural network approach publication-title: Appl. Soft Comput. – volume: 61 start-page: 89 year: 1989 end-page: 101 ident: b16 article-title: Formation and control of optimal trajectory in human multijoint arm movement publication-title: Biol. Cybern. 1989 61:2 – volume: 8 start-page: 256 year: 2004 end-page: 279 ident: b81 article-title: Handling multiple objectives with particle swarm optimization publication-title: IEEE Trans. Evol. Comput. – volume: Vol. 1 start-page: 59 year: 1999 end-page: 64 ident: b44 article-title: Energy analysis during biped walking publication-title: Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No. 99CH36288C) – volume: 124 year: 2022 ident: b50 article-title: Implementation of intelligent navigational techniques for inter-collision avoidance of multiple humanoid robots in complex environment publication-title: Appl. Soft Comput. – volume: 17 year: 2020 ident: b69 article-title: Dynamic stabilization of NAO humanoid robot based on whole-body control with simulated annealing publication-title: Int. J. Humanoid Robot. – start-page: 3931 year: 2011 end-page: 3936 ident: b12 article-title: Gait control of humanoid robots via fuzzy logic and iterative optimization publication-title: Proceedings of the 30th Chinese Control Conference – start-page: 106 year: 1998 end-page: 109 ident: b78 article-title: The optimal gait pattern in hexapods based on energetic efficiency publication-title: Proceedings of the 3rd International Symposium on Artificial Life and Robotics – reference: C. Hernández-Santos, R. Soto, E. Rodriguez, Design and Dynamic Modeling of Humanoid Biped Robot e-Robot, in: 2011 IEEE Electronics, Robotics and Automotive Mechanics Conference, (ISSN: null) 2011, pp. 191–196. – volume: 58 start-page: 349 year: 2010 end-page: 361 ident: b41 article-title: Dynamically balanced optimal gaits of a ditch-crossing biped robot publication-title: Robot. Auton. Syst. – volume: 89 year: 2020 ident: b49 article-title: Navigational analysis of multiple humanoids using a hybrid regression-fuzzy logic control approach in complex terrains publication-title: Appl. Soft Comput. – volume: 1 start-page: 157 year: 2004 end-page: 173 ident: b74 article-title: Zero-moment point—thirty five years of its life publication-title: Int. J. Humanoid Robot. – volume: 140 year: 2023 ident: b52 article-title: Chaos-based optimal path planning of humanoid robot using hybridized regression-gravity search algorithm in static and dynamic terrains publication-title: Appl. Soft Comput. – start-page: 47 year: 2023 ident: 10.1016/j.swevo.2025.102144_b1 article-title: A knee-based multi-objective optimization for gait cycle of 25-DOF NAO humanoid robot – volume: 58 start-page: 349 issue: 4 year: 2010 ident: 10.1016/j.swevo.2025.102144_b41 article-title: Dynamically balanced optimal gaits of a ditch-crossing biped robot publication-title: Robot. Auton. Syst. doi: 10.1016/j.robot.2009.10.004 – ident: 10.1016/j.swevo.2025.102144_b39 doi: 10.1109/ICIINFS.2008.4798359 – start-page: 3931 year: 2011 ident: 10.1016/j.swevo.2025.102144_b12 article-title: Gait control of humanoid robots via fuzzy logic and iterative optimization – volume: 44 start-page: 428 issue: 9 year: 2022 ident: 10.1016/j.swevo.2025.102144_b8 article-title: Pareto optimal design of a fuzzy adaptive sliding mode controller for a three-link model of a biped robot via the multi-objective improved team game algorithm publication-title: J. Braz. Soc. Mech. Sci. Eng. doi: 10.1007/s40430-022-03719-0 – start-page: 221 year: 1998 ident: 10.1016/j.swevo.2025.102144_b28 article-title: Evolutionary computation and convergence to a pareto front – ident: 10.1016/j.swevo.2025.102144_b35 doi: 10.1109/CEC48606.2020.9185546 – volume: 2010 year: 2010 ident: 10.1016/j.swevo.2025.102144_b10 article-title: A review of gait optimization based on evolutionary computation publication-title: Appl. Comput. Intell. Soft Comput. – volume: 9 start-page: 191 issue: 1 year: 2009 ident: 10.1016/j.swevo.2025.102144_b40 article-title: Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2008.04.004 – year: 2020 ident: 10.1016/j.swevo.2025.102144_b27 – volume: 40 start-page: 549 year: 2015 ident: 10.1016/j.swevo.2025.102144_b3 article-title: Analysis of double support phase of biped robot and multi-objective optimization using genetic algorithm and particle swarm optimization algorithm publication-title: S̄AdhanĀ – volume: 6 start-page: 609 year: 2009 ident: 10.1016/j.swevo.2025.102144_b14 article-title: Achieving energy-efficient bipedal walking trajectory through GA-based optimization of key parameters publication-title: Int. J. Humanoid Robot. doi: 10.1142/S0219843609001905 – year: 2017 ident: 10.1016/j.swevo.2025.102144_b36 – volume: 427 start-page: 63 year: 2018 ident: 10.1016/j.swevo.2025.102144_b54 article-title: A competitive mechanism based multi-objective particle swarm optimizer with fast convergence publication-title: Inform. Sci. doi: 10.1016/j.ins.2017.10.037 – volume: 89 year: 2020 ident: 10.1016/j.swevo.2025.102144_b49 article-title: Navigational analysis of multiple humanoids using a hybrid regression-fuzzy logic control approach in complex terrains publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2020.106088 – volume: 61 start-page: 89 year: 1989 ident: 10.1016/j.swevo.2025.102144_b16 article-title: Formation and control of optimal trajectory in human multijoint arm movement publication-title: Biol. Cybern. 1989 61:2 – volume: 8 start-page: 256 issue: 3 year: 2004 ident: 10.1016/j.swevo.2025.102144_b81 article-title: Handling multiple objectives with particle swarm optimization publication-title: IEEE Trans. Evol. Comput. doi: 10.1109/TEVC.2004.826067 – volume: 39 start-page: 123 year: 2021 ident: 10.1016/j.swevo.2025.102144_b17 article-title: Improved motion planning of humanoid robots using bacterial foraging optimization publication-title: Robotica doi: 10.1017/S0263574720000235 – year: 2021 ident: 10.1016/j.swevo.2025.102144_b57 – volume: 210 start-page: 177 year: 1996 ident: 10.1016/j.swevo.2025.102144_b45 article-title: A variational approach to the optimization of gait for a bipedal robot publication-title: Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Sci. doi: 10.1243/PIME_PROC_1996_210_184_02 – volume: 7 start-page: 117 issue: 2 year: 2003 ident: 10.1016/j.swevo.2025.102144_b31 article-title: Performance assessment of multiobjective optimizers: An analysis and review publication-title: IEEE Trans. Evol. Comput. doi: 10.1109/TEVC.2003.810758 – volume: 51 start-page: 4834 issue: 10 year: 2020 ident: 10.1016/j.swevo.2025.102144_b55 article-title: Handling constrained many-objective optimization problems via problem transformation publication-title: IEEE Trans. Cybern. doi: 10.1109/TCYB.2020.3031642 – volume: 1 start-page: 157 year: 2004 ident: 10.1016/j.swevo.2025.102144_b74 article-title: Zero-moment point—thirty five years of its life publication-title: Int. J. Humanoid Robot. doi: 10.1142/S0219843604000083 – volume: 11 start-page: 712 issue: 6 year: 2007 ident: 10.1016/j.swevo.2025.102144_b56 article-title: MOEA/D: A multiobjective evolutionary algorithm based on decomposition publication-title: IEEE Trans. Evol. Comput. doi: 10.1109/TEVC.2007.892759 – start-page: 427 year: 2025 ident: 10.1016/j.swevo.2025.102144_b84 article-title: A comparative study of Pareto front of optimal solution set for NAO robot’s gait optimization using the dominance move indicator based on mixed integer programming – ident: 10.1016/j.swevo.2025.102144_b83 doi: 10.1145/3377929.3398082 – volume: 231 start-page: 57 issue: 1 year: 2017 ident: 10.1016/j.swevo.2025.102144_b62 article-title: Kinematic and three-dimensional dynamic modeling of a biped robot publication-title: Proc. Inst. Mech. Eng. Part K: J. Multi-Body Dyn. – volume: 4 start-page: 777 year: 2007 ident: 10.1016/j.swevo.2025.102144_b37 article-title: Online dynamically balanced ascending and descending gait generations of a biped robot using soft computing publication-title: Int. J. Humanoid Robot. doi: 10.1142/S0219843607001254 – start-page: 5 year: 2014 ident: 10.1016/j.swevo.2025.102144_b64 article-title: Tasks prioritization for whole-body realtime imitation of human motion by humanoid robots – year: 2023 ident: 10.1016/j.swevo.2025.102144_b2 article-title: Analysis and optimization of gait cycle of 25-DOF NAO robot using particle swarm optimization and genetic algorithms publication-title: Int. J. Humanoid Robot. – volume: Vol. 6 start-page: 4926 year: 2003 ident: 10.1016/j.swevo.2025.102144_b43 article-title: A complete dynamic model of five-link bipedal walking – volume: 13 start-page: 616 issue: 4 year: 2022 ident: 10.1016/j.swevo.2025.102144_b19 article-title: Path planning algorithm for multi-locomotion robot based on multi-objective genetic algorithm with elitist strategy publication-title: Micromachines doi: 10.3390/mi13040616 – year: 1955 ident: 10.1016/j.swevo.2025.102144_b59 article-title: A kinematic notation for lower-pair mechanisms based on matrices publication-title: J. Appl. Mech. doi: 10.1115/1.4011045 – volume: 6 start-page: 182 issue: 2 year: 2002 ident: 10.1016/j.swevo.2025.102144_b53 article-title: A fast and elitist multiobjective genetic algorithm: NSGA-II publication-title: IEEE Trans. Evol. Comput. doi: 10.1109/4235.996017 – start-page: 4019 year: 2007 ident: 10.1016/j.swevo.2025.102144_b11 article-title: Biped fast walking gait shaping via evolutionary multi-objective optimization – start-page: 110 year: 2015 ident: 10.1016/j.swevo.2025.102144_b32 article-title: Modified distance calculation in generational distance and inverted generational distance – volume: 68 start-page: 565 year: 2018 ident: 10.1016/j.swevo.2025.102144_b47 article-title: A hybridized regression-adaptive ant colony optimization approach for navigation of humanoids in a cluttered environment publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2018.04.023 – volume: 15 year: 2018 ident: 10.1016/j.swevo.2025.102144_b71 article-title: Design and modeling of a lightweight and low power consumption full-scale biped robot publication-title: Int. J. Humanoid Robot. doi: 10.1142/S0219843618500226 – start-page: 1 year: 2025 ident: 10.1016/j.swevo.2025.102144_b85 article-title: Many-objective robust gait optimization for a 25-DOFs NAO robot using NSGA-III publication-title: Eng. Optim. doi: 10.1080/0305215X.2025.2502574 – volume: 4 start-page: 717 year: 2007 ident: 10.1016/j.swevo.2025.102144_b38 article-title: Dynamically balanced ascending and descending gaits of a two-legged robot publication-title: Int. J. Humanoid Robot. doi: 10.1142/S0219843607001266 – volume: 124 year: 2022 ident: 10.1016/j.swevo.2025.102144_b50 article-title: Implementation of intelligent navigational techniques for inter-collision avoidance of multiple humanoid robots in complex environment publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2022.109001 – volume: 124 start-page: 194 year: 2014 ident: 10.1016/j.swevo.2025.102144_b23 article-title: Optimal robust sliding mode tracking control of a biped robot based on ingenious multi-objective PSO publication-title: Neurocomputing doi: 10.1016/j.neucom.2013.07.009 – volume: 41 start-page: 4307 issue: 3 year: 2021 ident: 10.1016/j.swevo.2025.102144_b18 article-title: Parameter design of biped robot motion system based on multi-objective optimization publication-title: J. Intell. Fuzzy Systems – start-page: 688 year: 2004 ident: 10.1016/j.swevo.2025.102144_b29 article-title: A study of the parallelization of a coevolutionary multi-objective evolutionary algorithm – volume: 37 start-page: 325 issue: 4 year: 2005 ident: 10.1016/j.swevo.2025.102144_b22 article-title: Multi-objective optimization of a leg mechanism using genetic algorithms publication-title: Eng. Optim. doi: 10.1080/03052150500066695 – volume: 26 start-page: 1452 issue: 6 year: 2022 ident: 10.1016/j.swevo.2025.102144_b86 article-title: A survey on knee-oriented multiobjective evolutionary optimization publication-title: IEEE Trans. Evol. Comput. doi: 10.1109/TEVC.2022.3144880 – volume: 59 start-page: 68 year: 2017 ident: 10.1016/j.swevo.2025.102144_b6 article-title: A hierarchical global path planning approach for mobile robots based on multi-objective particle swarm optimization publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2017.05.012 – volume: 116 year: 2022 ident: 10.1016/j.swevo.2025.102144_b9 article-title: Trajectory planning of autonomous mobile robots applying a particle swarm optimization algorithm with peaks of diversity publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2021.108108 – volume: 12 start-page: 73 issue: 4 year: 2017 ident: 10.1016/j.swevo.2025.102144_b82 article-title: PlatEMO: A MATLAB platform for evolutionary multi-objective optimization publication-title: IEEE Comput. Intell. Mag. doi: 10.1109/MCI.2017.2742868 – start-page: 671 year: 2012 ident: 10.1016/j.swevo.2025.102144_b61 article-title: Dynamic modeling and control study of the NAO biped robot with improved trajectory planning publication-title: Mater. Complex Behav. II: Prop. Non-Class. Mater. New Technol. – year: 1987 ident: 10.1016/j.swevo.2025.102144_b73 – start-page: 201 year: 2018 ident: 10.1016/j.swevo.2025.102144_b15 article-title: Generation of walking motions for the biped ascending slopes based on genetic algorithm – start-page: 3692 year: 2012 ident: 10.1016/j.swevo.2025.102144_b65 article-title: A real-time human imitation system – volume: 96 year: 2020 ident: 10.1016/j.swevo.2025.102144_b48 article-title: A hybrid technique for path planning of humanoid robot NAO in static and dynamic terrains publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2020.106581 – volume: 85 start-page: 27 year: 2017 ident: 10.1016/j.swevo.2025.102144_b63 article-title: Inverse kinematics based human mimicking system using skeletal tracking technology publication-title: J. Intell. Robot. Syst. doi: 10.1007/s10846-016-0384-6 – start-page: 540 year: 2013 ident: 10.1016/j.swevo.2025.102144_b79 article-title: Evolving gaits for physical robots with the hyperneat generative encoding: The benefits of simulation – year: 2014 ident: 10.1016/j.swevo.2025.102144_b77 – volume: 17 issue: 03 year: 2020 ident: 10.1016/j.swevo.2025.102144_b69 article-title: Dynamic stabilization of NAO humanoid robot based on whole-body control with simulated annealing publication-title: Int. J. Humanoid Robot. doi: 10.1142/S0219843620500140 – volume: 10 start-page: 1997 year: 2019 ident: 10.1016/j.swevo.2025.102144_b4 article-title: Multiobjective optimized bipedal locomotion publication-title: Int. J. Mach. Learn. Cybern. doi: 10.1007/s13042-017-0660-1 – volume: 215 year: 2023 ident: 10.1016/j.swevo.2025.102144_b21 article-title: Humanoid robot path planning using memory-based gravity search algorithm and enhanced differential evolution approach in a complex environment publication-title: Expert Syst. Appl. doi: 10.1016/j.eswa.2022.119423 – year: 1999 ident: 10.1016/j.swevo.2025.102144_b34 – volume: 15 start-page: 69 issue: PART 1 year: 2013 ident: 10.1016/j.swevo.2025.102144_b70 article-title: Kinematics and dynamics modelling of the biped robot publication-title: IFAC Proc. Vol. (IFAC-PapersOnline) doi: 10.3182/20130606-3-XK-4037.00032 – ident: 10.1016/j.swevo.2025.102144_b13 – volume: 9 start-page: 1548 issue: 12 year: 2020 ident: 10.1016/j.swevo.2025.102144_b26 article-title: Multi-objective optimization algorithm of humanoid robot walking on a narrow beam publication-title: Int. J. Mech. Eng. Robot. Res. – ident: 10.1016/j.swevo.2025.102144_b68 doi: 10.1109/ICCAS.2015.7364800 – volume: 77 start-page: 251 issue: 2 year: 2015 ident: 10.1016/j.swevo.2025.102144_b60 article-title: Complete analytical forward and inverse kinematics for the NAO humanoid robot publication-title: J. Intell. Robot. Syst. doi: 10.1007/s10846-013-0015-4 – start-page: 106 year: 1998 ident: 10.1016/j.swevo.2025.102144_b78 article-title: The optimal gait pattern in hexapods based on energetic efficiency – volume: 4 start-page: 183 issue: 2 year: 2020 ident: 10.1016/j.swevo.2025.102144_b7 article-title: Intelligent control of biped robots: Optimal fuzzy tracking control via multi-objective particle swarm optimization and genetic algorithms publication-title: AUT J. Mech. Eng. – volume: 35 year: 2016 ident: 10.1016/j.swevo.2025.102144_b66 article-title: Data-driven inverse dynamics for human motion publication-title: ACM Trans. Graph. doi: 10.1145/2980179.2982440 – year: 2021 ident: 10.1016/j.swevo.2025.102144_b58 – volume: 125 start-page: 591 year: 2022 ident: 10.1016/j.swevo.2025.102144_b24 article-title: Multi-objective optimization technique for trajectory planning of multi-humanoid robots in cluttered terrain publication-title: ISA Trans. doi: 10.1016/j.isatra.2021.06.017 – volume: 15 issue: 03 year: 2018 ident: 10.1016/j.swevo.2025.102144_b42 article-title: Impact dynamics-based torso control for dynamic walking biped robots publication-title: Int. J. Humanoid Robot. doi: 10.1142/S0219843618500044 – volume: Vol. 1 start-page: 59 year: 1999 ident: 10.1016/j.swevo.2025.102144_b44 article-title: Energy analysis during biped walking – volume: 89 year: 2020 ident: 10.1016/j.swevo.2025.102144_b5 article-title: Multi-objective path planning of an autonomous mobile robot using hybrid PSO-MFB optimization algorithm publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2020.106076 – start-page: 292 year: 1998 ident: 10.1016/j.swevo.2025.102144_b30 article-title: Multiobjective optimization using evolutionary algorithms—a comparative case study – volume: 140 year: 2023 ident: 10.1016/j.swevo.2025.102144_b52 article-title: Chaos-based optimal path planning of humanoid robot using hybridized regression-gravity search algorithm in static and dynamic terrains publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2023.110236 – volume: 43 start-page: 37 issue: 1 year: 2019 ident: 10.1016/j.swevo.2025.102144_b72 article-title: A computationally efficient inverse dynamics solution based on virtual work principle for biped robots publication-title: Iran. J. Sci. Technol. Trans. Mech. Eng. doi: 10.1007/s40997-017-0138-5 – start-page: 1 year: 2015 ident: 10.1016/j.swevo.2025.102144_b33 article-title: Performance metrics in multi-objective optimization – volume: 13 start-page: 461 issue: 5 year: 1995 ident: 10.1016/j.swevo.2025.102144_b76 article-title: Design of a robust dynamic gait of the biped using the concept of dynamic stability margin publication-title: Robotica doi: 10.1017/S0263574700018294 – volume: 14 start-page: 167 year: 2014 ident: 10.1016/j.swevo.2025.102144_b46 article-title: Online bio-inspired trajectory generation of seven-link biped robot based on T–S fuzzy system publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2013.05.013 – start-page: 216 year: 2005 ident: 10.1016/j.swevo.2025.102144_b80 article-title: Gait production in a tensegrity based robot – volume: 1 start-page: 67 issue: 1 year: 1997 ident: 10.1016/j.swevo.2025.102144_b25 article-title: No free lunch theorems for optimization publication-title: IEEE Trans. Evol. Comput. doi: 10.1109/4235.585893 – ident: 10.1016/j.swevo.2025.102144_b67 doi: 10.1109/CERMA.2011.37 – volume: 119 year: 2022 ident: 10.1016/j.swevo.2025.102144_b51 article-title: Towards motion planning of humanoids using a fuzzy embedded neural network approach publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2022.108588 – volume: 120 start-page: 192 year: 2018 ident: 10.1016/j.swevo.2025.102144_b20 article-title: Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2017.10.004 – year: 2023 ident: 10.1016/j.swevo.2025.102144_b75 |
| SSID | ssj0000602559 |
| Score | 2.3747764 |
| Snippet | Researchers are increasingly using optimization methods to achieve optimal dynamic performance of humanoid robots, often involving multiple conflicting... |
| SourceID | crossref elsevier |
| SourceType | Index Database Publisher |
| StartPage | 102144 |
| SubjectTerms | Evolutionary algorithms Multi-objective optimization NAO humanoid robot Performance metrics Swarm intelligence |
| Title | Dynamic performance evaluation of evolutionary multi-objective optimization algorithms for gait cycle optimization of a 25-DOFs NAO humanoid robot |
| URI | https://dx.doi.org/10.1016/j.swevo.2025.102144 |
| Volume | 99 |
| WOSCitedRecordID | wos001570470200001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals 2021 issn: 2210-6502 databaseCode: AIEXJ dateStart: 20110301 customDbUrl: isFulltext: true dateEnd: 99991231 titleUrlDefault: https://www.sciencedirect.com omitProxy: false ssIdentifier: ssj0000602559 providerName: Elsevier |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV3JbtswECVcp4demq5ouoGH3lQZiqz1aNRJl0NiICngm0BSVGzDkQxZduLfyBdnhtQaF0VboBfBECSK1nuYGVJvZgj5ZAsegpcKzEA4rulgsaHA9Rxz6IRWDHgnceyoZhP-2VkwnYaTXu-uyoXZLv00DW5vw9V_hRrOAdiYOvsXcNeDwgn4DaDDEWCH4x8BP9Y95rEgcZ0S0NT0xuBQbssJoGJOKQrNjC-05TMysCHXZXKmwZZXWT4vZrpqg3HF5oUhdmL54DKVY2m75vj8FMzm6Fx3_svmsZFnPOvs_l_csFx35ejMQqjmEh1VwNfNSke2k816hp1689qDTJC2My0NH-OGkKGU4nVQLrkWiix3LL3Odu2dDZhlVyWyn3KDVtGGNaoJYWXHhOseS3veQG9MLAbrG_hLA3zEQHUydxrnV0sSL3BgHBdiQlwmDh-RA9t3w6BPDkbfT6Y_6p07y1PrMOxaWM2lKmelhIN7T_t1yNMKYy6fkafl-oOONG-ek55MX5DDqrcHLU39S3JX0oi2aEQbGtEsoW0A6QMa0TY_aEMjCmNRpBFVNOpeBmMyWtKIAo1oRSOqaPSK_Dw9ufzyzSz7d5gCXlBhSh4nPne5LZIY5Q2-H3ABAa4IuCPRdTgxt2NpJVYYs9ByuMBv7BJ8qGSB5x4PX5N-mqXyDaFYxs-WKFsIcZF_zIaxLxl3GPOE7_viiHyuXnG00mVaokq_uIgUIhEiEmlEjohXwRCVkaaOICOgzu9ufPuvN74jTxqKvyf9It_ID-Sx2Bbzdf6xpNg9UHWsMg |
| linkProvider | Elsevier |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Dynamic+performance+evaluation+of+evolutionary+multi-objective+optimization+algorithms+for+gait+cycle+optimization+of+a+25-DOFs+NAO+humanoid+robot&rft.jtitle=Swarm+and+evolutionary+computation&rft.au=Gupta%2C+Pushpendra&rft.au=Pratihar%2C+Dilip+Kumar&rft.au=Deb%2C+Kalyanmoy&rft.date=2025-12-01&rft.pub=Elsevier+B.V&rft.issn=2210-6502&rft.volume=99&rft_id=info:doi/10.1016%2Fj.swevo.2025.102144&rft.externalDocID=S2210650225003013 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2210-6502&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2210-6502&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2210-6502&client=summon |