Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

Table 2

Control factors and their levels.

Control factor	Level 1	Level 2	Level 3
𝑆	100	200	300
𝑁	50	75	100
𝑃𝑐	0.6	0.7	0.8
𝑃𝑚	0.015	0.03	0.05