四腿机器人步态参数自动进化研究与实现  

Research and Implementation of Automatic Gait Evolution for 4-Legged Robot

作　　者：许涛[1] 陈启军[1] 

机构地区：[1]同济大学控制科学与工程系,上海201804

出　　处：《机器人》2009年第1期72-76,81,共6页Robot

基　　金：国家自然科学基金资助项目(60875057).

摘　　要：采用进化算法和基于自主视觉的适应度评估方法,实现了四腿机器人在RoboCup机器人足球比赛现场的行走步态在线自动进化.我们引入内推法作为交叉方法,利用PC基站进行进化算法计算和流程主控,并采用了一些学习时间缩减策略.实现了进化学习的连续性和可扩展性,使得学习过程可以在40-60 min内完成,这样就能在比赛现场对ERS-7四足机器人进行行走再学习,提高了行走控制的适应性.算泫最终结果使ERS-7型四足机器人的行走速度从27 cm/s提升到43 cm/s.By adopting evolution algorithm and autonomous-vision-based fitness evaluation approaches, the on-line automatic gait evolution of 4-legged robot in a RoboCup soccer field is realized. We incorporate interpolation method as the crossover method, use a PC base station to conduct algorithm calculation and flow control, and adopt some time-cutting strategies. The evolutionary learning is implemented with high continuity and expansibility, and the whole learning process can be completed within 40-60 minutes. In-field gait re-learning of the ERS-7 4-legged robot is realized, and the adaptability of walking control is improved. At last, the walking speed of ERS-7 4-legged robots is increased from 27 cm/s to 43 cm/s with the proposed algorithm.

关 键 词：四腿机器人 步态学习 进化算法 行走控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]