Synergistic Design of the Bipedal Lower-Limb through Multiobjective Differential Evolution Algorithm

Algorithm 1

Multiselection Strategy DE-based.

1: Create a random initial population , and

2: Evaluate in performance functions.

3:

4: while    do

5:for   to   do

6:if    then

7:Select randomly

8:else

9:Choose , and from ExA

10:end if

11:

12:for   to   do

13:if   or   then

14:

15:else

16:

17:end if

18:end for

19:Multi-Selection Strategy between and based on Algorithm 2

20:Update the ExA with the information of the best performance individuals.

21:

22: end for

23: end while