机器人2015，Vol.37Issue(5)：529-537,9.DOI:10.13973/j.cnki.robot.2015.0529
基于马尔可夫决策过程的六足机器人自由步态规划
Free Gait Planning for a Hexapod Robot Based on Markov Decision Process
摘要
Abstract
In order to imitate biological gait accurately and develop the movement potential of hexapod robots compre-hensively, a discrete gait model is built based on the discretization of foot trajectories and the fusion of CPG (central pattern generator) model and reflect model. Firstly, the stable position state space is constructed based on stability analysis, and the complex gait planning is transformed into the sequencing problem of position states in the stable position state space. Then, a free gait generation algorithm is proposed, and the optimized free gait planning algorithm for specific terrain is investigated by taking the average stability margin as performance index based on Markov decision process, which is good at dealing with sequential decision problem. The gait experiment results of the prototype show that both the free gait generation algorithm and the optimized algorithm can generate stable gait which accords with motion characteristics of creatures to some extent, and the optimized free gait planning algorithm can plan the optimized gait for specific terrain based on average stability margin quickly.关键词
六足机器人/自由步态/步态规划/马尔可夫决策过程/离散化Key words
hexapod robot/free gait/gait planning/Markov decision process/discretization分类
信息技术与安全科学引用本文复制引用
李满宏,张建华,张小俊,张明路..基于马尔可夫决策过程的六足机器人自由步态规划[J].机器人,2015,37(5):529-537,9.基金项目
国家863计划资助项目(2012AA041508) （2012AA041508）
河北省自然科学基金资助项目(E2014202154) （E2014202154）
机器人技术与系统国家重点实验室开放研究项目(SKLRS-2013-ZD-04). （SKLRS-2013-ZD-04）
