| 基于强度Pareto进化算法的双足机器人步态规划 |
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| 引用本文： | 毕盛,庄钟杰,闵华清. 基于强度Pareto进化算法的双足机器人步态规划[J]. 华南理工大学学报(自然科学版), 2011, 0(10): 68-73 |
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| 作者姓名： | 毕盛 庄钟杰 闵华清 |
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| 作者单位： | 华南理工大学计算机科学与工程学院;华南理工大学软件学院; |
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| 基金项目： | 广东省自然科学基金资助项目(S2011040002784) |
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| 摘 要： | 为了获得良好的双足机器人步行模式,提出了以步行过程中机器人的稳定性、移动性和能耗为目标的步态规划多目标优化方法.该方法基于倒立摆模型产生基本步态,并使用罚函数法和改进的强度Pareto进化算法(SPEA2)在可行域中求得基于基本步态的Pareto解集,从而找出最优解.最后在Matlab6.5仿真环境下进行步态仿真,并将...
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| 关 键 词： | 仿人机器人 步态规划 多目标进化算法 强度Pareto进化算法 |
Gait Planning of Biped Robots Based on Strength Pareto Evolutionary Algorithm |
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| Bi Sheng Zhuang Zhong-jie Min Hua-qing. Gait Planning of Biped Robots Based on Strength Pareto Evolutionary Algorithm[J]. Journal of South China University of Technology(Natural Science Edition), 2011, 0(10): 68-73 |
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| Authors: | Bi Sheng Zhuang Zhong-jie Min Hua-qing |
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| Affiliation: | Bi Sheng1 Zhuang Zhong-jie1 Min Hua-qing2 (1.School of Computer Science and Engineering,South China University of Technology,Guangzhou 510006,Guangdong,China,2.School of Software Engineering,China) |
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| Abstract: | In order to achieve a good walking pattern of biped robots,a multi-objective optimal method for the gait planning is proposed,with the stability,the mobility and the energy of the robot as the research focuses.In this method,the basic gaits are generated based on the inverted pendulum.Then,Pareto optimal solutions based on the basic gaits are obtained in the feasible region by means of the improved strength Pareto evolutionary algorithm(SPEA2) and the penalty function method.Finally,after the walking simula... |
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| Keywords: | humanoid robot gait planning multi-objective evolutionary algorithm strength Pareto evolutionary algorithm |
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