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应用科学学报 ›› 2002, Vol. 20 ›› Issue (4): 341-345.

• 论文 • 上一篇    下一篇

基于遗传算法的双足机器人上楼梯的步态规划

柯显信, 龚振邦, 吴家麒   

  1. 上海大学机电工程与自动化学院特种机器人研究室, 上海 200072
  • 收稿日期:2001-12-18 修回日期:2002-03-14 出版日期:2002-12-31 发布日期:2002-12-31
  • 作者简介:柯显信(1973-),男,安徽庐江人,博士生;龚振邦(1942-),男,上海人,教授,博导.

Gait Optimization Based on Genetic Algorithm for a Biped Robot Climbing Upstairs

KE Xian-xin, GONG Zhen-bang, WU Jia-qi   

  1. School of Mechatronics and Automation, Shanghai University, Shanghai 200072, China
  • Received:2001-12-18 Revised:2002-03-14 Online:2002-12-31 Published:2002-12-31

PDF

106

被引次数

17

摘要： 针对双足机器人上楼梯的步态规划问题,应用三次样条插值合成脚踝的运动轨迹,并基于加速度分析设计出臀部运动轨迹,计算动力学模型得到ZMP轨迹,进而得出机器人步行的稳定性可以表示为关于上体初始位姿的多变量优化问题.最后应用遗传算法(genetic algorithm,GA)求解,获得稳定性好的优化步态.机器人上楼梯的动态步行仿真结果表明,运用遗传算法可以得到合适的优化轨迹.

关键词: 双足机器人, 步态规划, 上楼梯, 遗传算法

Abstract: A seven-link biped robot model was chosen for gait stability optimization in climbing upstairs. Motions of the feet during a regular step were designed by the 3rd order spline; motions of the hip were designed through acceleration analysis, and the locus of ZMP was obtained by computing the dynamic model. Thus the gait stability of the biped robot could be shown as a multi variable optimal problem in connection with the placement and the pose of the upper body of the robot. Finally, genetic algorithm (GA) was applied to get the optimal solution. The simulations of the biped robot climbing upstairs showed that the method work satisfactorily.

Key words: biped robot, genetic algorithm, gait optimization, upstairs

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