A multi-objective gait optimization method based on virtual prototype is proposed to address the difficulty of balancing personalisation and performance in gait planning for bipedal robots.A scale prototype of a planar underactuated biped robot is created according to the body structure of Chinese people,and an identification approach is used to determine the robot's exact inertial parameters.A virtual prototype of the robot is created,and three optimization goals—speed,energy use,and stability are developed.Using the enhanced NSGA-Ⅱ algorithm,the Pareto optimal solution set for the robot multi-objective gait planning issue is produced.Numerous gaits that conform to the law of human walking and have diversity at different speeds are obtained through the simulation experiment.
维普
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