机械科学与技术2025，Vol.44Issue(4)：601-608,8.DOI:10.13433/j.cnki.1003-8728.20230114
一种用于四足机器人逆运动学求解的改进天牛须算法研究
An Improved Beetle Antennae Search Algorithm of Solving Inverse Kinematics of Quadruped Robot
摘要
Abstract
In order to solve the drawbacks of large computation,poor stability and slow convergence of traditional method used in the inverse kinematics of 12-DOF(twelve-degree-of-freedom)quadruped robot,an improved beetle antennae search algorithm is proposed.Firstly,the algorithm constrains the rotation angle of beetle's orientation for each iteration to improve the searching ability of the algorithm in multi-dimensional space.Secondly,the historical information of fitness is introduced for adaptive update step size,and the minimum step size associated with the target accuracy is set for fine search for enhancing the anaphase convergence performance.Finally,a fitness function is constructed to describe the pose error of the quadruped robot,and the inverse kinematics of the quadruped robot is solved by minimizing the fitness.Numerical results show that the present method has better convergence,higher accuracy when solving the inverse kinematics problem of 12-DOF quadruped robot.关键词
四足机器人/逆运动学/适应度/天牛须算法Key words
quadruped robot/inverse kinematics/fitness/beetle antennae search algorithm分类
信息技术与安全科学引用本文复制引用
邱斌,冯科,王云霄..一种用于四足机器人逆运动学求解的改进天牛须算法研究[J].机械科学与技术,2025,44(4):601-608,8.基金项目
广西重点研发计划(桂科AB23075163,桂科AB23026034)、桂林理工大学博士科研启动基金项目(GUTQDJJ2014042)及桂林理工大学大学生创新创业训练计划(202210596341) （桂科AB23075163,桂科AB23026034）
