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Multi-objective particle swarm algorithm-based humanoid robot gait planning method

A multi-objective particle swarm and humanoid robot technology, which is applied in the field of gait planning of humanoid robots based on multi-objective particle swarm algorithm, can solve the problems of large hydraulic cylinder and high pressure required

Inactive Publication Date: 2018-05-08
航天科工智能机器人有限责任公司
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Problems solved by technology

[0004] In view of the above reasons, the purpose of this disclosure is to provide a gait planning method for a humanoid robot based on a multi-objective particle swarm optimization algorithm, which solves the problem that the required hydraulic cylinder volume Large, high-pressure imperfections that combine stability margins with joint moments

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[0051] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only parts related to the present disclosure are shown in the drawings.

[0052] It should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The following will refer to the attached Figure 1-4 The present disclosure will be described in detail in combination with embodiments.

[0053] The gait planning method of humanoid robot based on multi-objective particle swarm algorithm is characterized in that it comprises the following steps:

[0054] S1 applies the cubic spline interpolation function to generate the motion trajectory of t...

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Abstract

The invention provides a multi-objective particle swarm algorithm-based humanoid robot gait planning method. The method comprises the following steps of S1, by applying a cubic spline interpolation function, generating motion tracks of hip joints and ankle joints; S2, according to the generated motion tracks of the hip joints and the ankle joints, calculating out motion situations of joints of both legs, and further calculating out a track of a zero moment point and moments of the hip joints of the both legs; S3, according to an optimized objective function and a task constraint condition, determining fitness functions of the joints of the both legs; S4, according to the fitness functions, obtaining a Pareto optimal solution set corresponding to the optimized objective function by utilizing a multi-objective particle swarm optimization algorithm; and S5, selecting a solution as an optimal solution from the Pareto optimal solution set, and substituting the optimal solution into plannedgaits, thereby guiding a humanoid robot to walk.

Description

technical field [0001] The disclosure relates to the field of robot control, in particular to a gait planning method for a humanoid robot based on a multi-objective particle swarm algorithm. Background technique [0002] Humanoid robot refers to a humanoid robot with human appearance characteristics and human-like functions. It is a comprehensive platform integrating various disciplines such as machinery, materials, electronics, control technology, sensor technology, and bionics. Today, with the rapid development of the robot industry, humanoid robots have attracted much attention because of their good adaptability to the human environment. Stable walking is the basis for humanoid robots to adapt to the environment, and it is also a hot and difficult point in the research of humanoid robots. [0003] In the process of gait planning for a humanoid robot, how to satisfy the maximum stability margin of the robot and keep the structural parameters constant so that the output to...

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Application Information

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IPC IPC(8): G06Q10/04G06N3/00B25J9/16
CPCB25J9/16B25J9/1664G06N3/006G06Q10/04
Inventor 张颖孙先涛李晗李楠王顺伟
Owner 航天科工智能机器人有限责任公司
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