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

<div>Hip angles (<span class="nowrap"><svg height="15.7581pt" id="M87" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -12.5766 11.2181 15.7581" width="11.2181pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.04,-3.549)"><path d="M846 629L831 655C777 615 719 595 640 595C573 595 518 604 436 619C338 640 291 647 226 647C158 647 71 626 0 558L15 532C79 570 138 592 218 592C292 592 340 582 410 569C495 552 560 540 629 540C701 540 788 559 846 629Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg>)</span> and knee angles (<span class="nowrap"><svg height="15.7581pt" id="M88" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -12.5766 11.2181 15.7581" width="11.2181pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.04,-3.549)"><path d="M846 629L831 655C777 615 719 595 640 595C573 595 518 604 436 619C338 640 291 647 226 647C158 647 71 626 0 558L15 532C79 570 138 592 218 592C292 592 340 582 410 569C495 552 560 540 629 540C701 540 788 559 846 629Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg>)</span> obtained from [<a href="/journals/mpe/2019/2301714/#B26" target="_blank">24</a>].</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Synergistic Design of the Bipedal Lower-Limb through Multiobjective Differential Evolution Algorithm 