基于遗传算法的腿轮式机器人运动姿态优化  

Kinetic Optimization for a Leg-wheeled Robot Based on Genetic Algorithm

作　　者：李金良[1] 包继华[1] 于岩[1] 孙友霞[1] 张媛[1] 

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266510

出　　处：《机床与液压》2010年第21期23-25,共3页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(60875068);山东省科技攻关计划资助项目(200806552)

摘　　要：在分析一种腿轮式机器人的运动原理的基础上,将具有12个自由度的腿轮式机器人简化为8连杆机构。利用三次多项式拟合机器人腿部髋关节和踝关节的位置轨迹,并通过动力学模型建立能量消耗表达式。然后应用遗传算法对多项式系数进行优化,获得了能量最优的运动姿态,最后对机器人的运动进行了仿真。After analyzing the locomotion principle of a leg-wheeled robot, the dynamic model was established as an eight-linked mechanism. Motion of the hip and feet joint during a regular cycle was modeled by the 3rd order polynomials and the energy consumption was obtained from the dynamic model. By using Genetic Algorithm, the coefficients of the polynomials were optimized, the energy optimal motion was got. The kinetic simulation was presented.

关 键 词：腿轮式机器人 运动姿态优化 遗传算法 

分 类 号：TP242.1[自动化与计算机技术—检测技术与自动化装置]