Cooperative optimization method of structure and motion of humanoid robot

Abstract

The invention provides a structure of a structure and motion collaborative optimization method for humanoid robot. The structure and motion collaborative optimization method comprises the steps of S1,providing known structural information of the humanoid robot to be optimized; S2, generating a humanoid robot model to be optimized; S3, selecting multi groups of combination parameters containing leg structural parameters and walking motion parameters of the humanoid robot; S4, generating robot models under the selected combination parameters respectively and corresponding model files; S5, conducting simulation experiments and scoring results of the biotic experiments respectively; S6, adopting a proxy model optimizer to build a mathematical proxy model, adopting an EGO algorithm to conductoptimization calculation on the mathematical proxy model and obtaining the optimal combination parameters. In this way, the walking motion capability of the humanoid robot is effectively improved, deduction of a complex kinetic equation between the leg structural parameters and the walking motion parameters of the robot is also avoided, the operation is simplified, the practicability is higher, and the discrepancy between a theory and practicality is lowered.

Description

technical field [0001] The invention relates to the technical field of industrial automation, in particular to a collaborative optimization method for the structure and motion of a humanoid robot. Background technique [0002] A humanoid robot is a robot whose main feature is bipedal walking and whose appearance is similar to human beings. A large number of research institutions and enterprises have invested funds in order to develop humanoid robots with human-like flexible movement capabilities and human intelligence, so as to achieve the goals of industry, military, and home services. The flexible and changeable bipedal walking of humanoid robots has a strong ability to overcome obstacles and pass through, and its human-like appearance makes it easier to realize human-machine cooperation and communication, so it is very attractive. The main difficulty in the design of humanoid robots is to achieve fast, flexible and stable bipedal walking ability, although this problem ha...

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Problems solved by technology

[0006] In the process of realizing the collaborative optimization of the structure and motion of the humanoid robot, although the dynamic equation can be established based on the complex coupling relationship between the structural parameters of the humanoid robot and the walking motion parameters, and then the optimization can be carried out, but because the legs of the humanoid robot There are many degrees of freedom, complex motion trajectories, various walking patterns, and a large number of parameters that affect walking patterns, so it is difficult to derive the dynamic equation

Moreover, if the specific driving components in the structural design of the robot, the return error of the transmission mechanism, and the structural stiffness are taken into account, the idea of ​​​​optimizing the established dynamic equations is almost impossible to implement.

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