摘要
为进一步提升舞蹈机器人的步态稳定性,提出一种基于改进遗传算法的机器人步态优化算法.其中,以遗传算法作为基础的步态参数优化方法,通过对遗传算法进行进一步改进,以提升其寻优能力,进而提升整体的步态优化效果.实验仿真结果表明,与传统的遗传算法相比,改进遗传算法具有更强的最优解搜索能力;与未经过步态优化的舞蹈机器人相比,基于改进遗传算法进行步态优化的舞蹈机器人的零力矩点ZMP曲线更加稳定,这表明在行走过程中机器人的振动更小,而在实际的行走测试中,经过步态优化的舞蹈机器人稳定性良好,解决了存在的机器人位姿较差的问题.综上,基于改进遗传算法的机器人步态优化算法优化效果良好,能够应用于实际场景,进行舞蹈机器人稳定性的提升,可行性较高.
Abstract
To further improve the gait stability of dance robots,a robot gait optimization algorithm based on an improved genetic algorithm is proposed.Among them,the gait parameter optimization method based on genetic algorithm is further improved to enhance its optimization ability and thus enhance the overall gait optimization effect.The experimental simulation results show that compared with traditional genetic algorithms,the improved genetic algorithm has stronger ability to search for optimal solutions;Compared with dance robots that have not undergone gait optimization,dance robots based on improved genetic algorithms have a more stable zero moment point ZMP curve,indicating that the robot's vibration is smaller during walking.However,in actual walking tests,dance ro-bots that have undergone gait optimization have good stability,solving the problem of poor robot posture.In summary,the robot gait optimization algorithm based on improved genetic algorithm has a good optimization effect and can be applied to practical scenarios to improve the stability of dance robots,with high feasibility.three
基金项目
2023年度陕西省哲学社会科学研究专项青年项目(2023QNN0274)
维普
万方数据