Pareto Design of State Feedback Tracking Control of a Biped Robot via Multiobjective PSO in Comparison with Sigma Method and Genetic Algorithms: Modified NSGAII and MATLAB’s Toolbox

Table 1

The anthropometric parameters of the model.

	First link	Second link	Third link	Unit
Mass	𝑚1=13.75	𝑚2=46.5	𝑚3=13.75	kg
Inertia	𝐼1=1.4	𝐼2=3.25	𝐼3=1.4	Kg·m^2
Length	𝑙1=0.91	𝑙2=0.8	𝑙3=0.91	m
CG	ℎ1=0.50	ℎ2=0.27	ℎ3=0.50	m