首页|Research on Gait Trajectory Planning of Wall-Climbing Robot Based on Improved PSO Algorithm

Research on Gait Trajectory Planning of Wall-Climbing Robot Based on Improved PSO Algorithm

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In order to reduce the labor intensity of high-altitude workers and realize the cleaning and maintenance of high-rise building exteriors,this paper proposes a design for a 4-DOF bipedal wall-climbing bionic robot inspired by the inchworm's movement.The robot utilizes vacuum adsorption for vertical wall attachment and legged movement for locomotion.To enhance the robot's movement efficiency and reduce wear on the adsorption device,a gait mimicking an inchworm's movement is planned,and foot trajectory planning is performed using a quintic polynomial function.Under velocity constraints,foot trajectory optimization is achieved using an improved Particle Swarm Optimization(PSO)algorithm,determining the quintic polynomial function with the best fitness through simulation.Finally,through comparative experiments,the climbing time of the robot closely matches the simulation results,validating the trajectory planning method's accuracy.

Bionic robotWall-climbing robotPSOGait planningTrajectory planning

Jian Li、Xianlin Shi、Peng Liang、Yanjun Li、Yilin Lv、Mingyue Zhong、Zezhong Han

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School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China

Guangxi Science and Technology Base and Talent ProjectSpecial fund for centrally guided local science and technology developmentGuangxi University of Science and Technology Doctoral FundGuangxi University of Science and Technology Doctoral Fund

AD230261152023JRZ01032023KY035322Z39

2024

10.1007/s42235-024-00538-y

仿生工程学报(英文版)
吉林大学

仿生工程学报(英文版)

CSTPCDEI
影响因子：0.837
ISSN：1672-6529
年,卷(期)：2024.21(4)
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