Stability optimization of legged quadruped robot based on adaptive differential evolution algorithm
In response to the problem of center of gravity deviation caused by unstable swinging of the thigh composite structure when the leg and foot composite quadruped robot is in trot gait,an optimization method based on adaptive differential evolution algorithm is adopted to address this issue.Constructing a Central Pattern Generators network(CPG)topology using oscillators in the Hopf model;with the help of adaptive differential evolution algorithm,the optimal CPG parameter combination for the output model was quickly found through multiple iterations to reduce center of gravity offset and body attitude angle,solving the stability problem caused by center of gravity offset.The proposed optimization method was validated through simulation experiments using ADAMS and MATLAB,and the results showed that the method could efficiently find the global optimal parameters,enabling the leg and foot composite quadruped robot to exhibit excellent motion performance.
legs and shoes composite quadruped robothopf modelrhythmic movementsdifferential evolution algorithm
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