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Robot motion optimization method and device, computer equipment and storage medium

An optimization method and robot technology, applied in the computer field, can solve the problems of slow convergence speed and local optimization of parameters, and achieve the effects of fast convergence speed, increasing kicking distance, and obvious effect of action optimization.

Pending Publication Date: 2019-02-12
LUDONG UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the particle swarm optimization algorithm is used in the existing technology to optimize the action execution parameters, but its convergence speed is slow, and it is easy to fall into the local optimum of the parameters

Method used

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  • Robot motion optimization method and device, computer equipment and storage medium
  • Robot motion optimization method and device, computer equipment and storage medium
  • Robot motion optimization method and device, computer equipment and storage medium

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Embodiment Construction

[0022] In order to make the object, technical solution and advantages of the present invention clearer, the present invention 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 the present invention, not to limit the present invention.

[0023] Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used in the embodiments of the present invention and the appended claims, the singular forms "a" and "the" are also intended to include plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0024] The robot action optimization method provided by ...

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Abstract

The invention is suitable for the technical field of a computer, and provides a robot motion optimization method and device, computer equipment and a storage medium. The method concretely comprises the following steps: responding to a motion optimization request of a robot, and constructing the initial motion of the robot according to a method of key frame interpolation; according to the initial motion of the robot, constructing an evaluation function; and according to the evaluation function, optimizing the initial motion of the robot by the adaptive evolutionary strategy algorithm of a covariance matrix. The method solves the technical problem of complex motion optimization of the robot, meanwhile the rate of convergence of the used algorithm is high, and the motion optimization effect is significant. The method is applied to robot kicking, and the kicking distance of the robot can be greatly increased.

Description

technical field [0001] The invention belongs to the field of computer technology, and in particular relates to a robot action optimization method, device, computer equipment and storage medium. Background technique [0002] The RoboCup (Robot World Cup Soccer Championship) simulation game is a research and education tool for multi-agent systems and simulated intelligence. The competition is played in a standard computer environment, providing a fully distributed control, real-time asynchronous multi-agent environment. In real-time asynchronous, noisy adversarial environments, study multi-agent cooperative adversarial problems. Of course, the robots used in the simulation group competition are not real robots. Each robot has its own brain and is an independent "subject". And a team is actually made up of eleven programs. [0003] The fixed motion of the robot uses inverse kinematics to calculate the joint angle from the pose, and then forms a series of smooth motions from...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/161B25J9/1661B25J11/00
Inventor 刘飞杨洪勇赵玫唐莉刘慧霞韩辅君张淑宁任世雨杨怡泽李玉玲刘远山
Owner LUDONG UNIVERSITY
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