基于大数据聚类的机器人步态控制系统设计  

Design of Robot Gait Control System Based on Big Data Clustering

作　　者：李莹[1] 申丽芳 LI Ying;SHEN Lifang(School of Information and Control,Shenyang Institute of technology,fushun 113122,China)

机构地区：[1]沈阳工学院信息与控制学院,辽宁抚顺113122

出　　处：《计算机测量与控制》2022年第3期95-99,共5页Computer Measurement &Control

基　　金：辽宁省中央引导地方科技发展资金沈抚示范区本级科技计划项目(2021JH6/10500137)。

摘　　要：为提高机器人关节的运动灵活性,使其具有更快、更稳的步行能力,设计基于大数据聚类的机器人步态控制系统;通过传感器设备为主处理器元件、舵机控制板提供足量的传输电信号,完成机器人步态控制系统硬件设计;定义关键的关节节点,通过建立适应度函数的方式,实现基于大数据聚类的步态节点安排;分别从支撑腿运动规划、摆动腿运动规划两方面着手,收集大量的步态运动信息,再联合已知函数条件,对机器人关节角度进行求解,完成机器人行进步态的规划与处理,实现基于大数据聚类机器人步态控制系统的应用;实验将所得关节弯曲次数、角度值与理想数值对比可知,所设计系统位姿标定情况下关节弯曲次数值大、角度值小,机器人关节的运动灵活性水平高,具有相对稳定的步行运动能力。In order to improve the mobility of robot joints and make them have a faster and more stable walking ability,a robot gait control system based on big data clustering is designed.Combined the external main power supply and the sensor equipment,the main processor element and the steering gear control board provide the sufficient transmission electrical signals to complete the hardware design of the robot gait control system.Key joint nodes are defined,and the gait node arrangement based on big data clustering is realized by establishing fitness function.Based on the gait planning of supporting leg and swinging leg,a large amount of gait information is collected,as connected to the known function conditions,and the joint angle of the robot is calculated to realize the gait control system.Compared with the ideal value,the result shows that the designed system has the advantages of large number of bending,small angle,high flexibility and relatively stable walking ability.

关 键 词：大数据聚类 机器人 步态控制 适应度函数 支撑腿 摆动腿 关节角度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]