智能系统学报Issue(6)：526-531,6.DOI:10.3969/j.issn.1673-4785.201301022
基于鱼群算法的仿人机器人步态优化
Research on the gait optimization of humanoid robots based on the fish swarm algorithm
卢嘉敏 1杨宜民 1付根平1
作者信息
- 1. 广东工业大学自动化学院，广东广州510090
- 折叠
摘要
Abstract
This paper focuses on the shortcomings and deficiencies existing in the present gait optimization method . The influence caused by the leg joints of a humanoid robot on the gait stability is analyzed .In the radial and lateral plane , the ZMP stability margin of the gait of a robot and the integral energy consumption are taken as parameters to form a target function , the fish swarm algorithm is applied to optimize the gait of the humanoid robot programmed on the basis of the spline interpolation method .The simulation experiment shows that , by the use of this method , not on-ly may the smooth gait of a humanoid robot with a large ZMP stability margin and small energy consumption be ob -tained , but also the global search capability has been found to be better and the optimization speed is faster , in com-parison to the optimization of the inheritance algorithm used for the gait optimization of a humanoid robot.关键词
仿人机器人/步态优化/鱼群算法/能耗/ZMP稳定裕度Key words
humanoid robot/gait optimization/fish swarm algorithm/energy consumption/ZMP stability margin分类
信息技术与安全科学引用本文复制引用
卢嘉敏,杨宜民,付根平..基于鱼群算法的仿人机器人步态优化[J].智能系统学报,2013,(6):526-531,6.
