基于改进粒子群算法的四足机器人步态研究  

Gait study of quadruped robot based on improved particle swarm algorithm

作　　者：李锦钰 白海军 刘玉旺[2] LI Jinyu;BAI Haijun;LIU Yuwang(School of Information Engineering,Shenyang University of Chemical Technology,Liaoning Shenyang 110142,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Robotics Research Laboratory,Liaoning Shenyang 110016,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110142 [2]中国科学院沈阳自动化研究所机器人学研究室,辽宁沈阳110016

出　　处：《工业仪表与自动化装置》2023年第5期70-75,共6页Industrial Instrumentation & Automation

基　　金：面向太空多模态目标捕获的“一源多驱”连续性机器人研究(Y9110303)。

摘　　要：为使四足机器人在不配备视觉传感器的情况下,依然能根据地形崎岖的程度调整自身步态规划,以提高在复杂未知地形的稳定性与适应性,提出了基于改进粒子群算法的步态规划方法。对于四足机器人实现快速小跑的过程中,首先提出了一种类椭圆的轨迹生成方法,保证机器人可以在摆动相支撑相相互交换的整个迈步过程连续运动。然而,模仿动物小跑的椭圆轨迹不能保证机体运动的稳定性,基于机体稳定性提出改进粒子群算法,为这种高度非线性系统提供了全局优化的解决方案。最后,在Simlink中建立动态仿真模型,实现在一个运动周期内的对角步态运动。仿真结果表明了对角步态规划方法的可靠性。A trot gait planning method based on an improved particle swarm algorithm is proposed in order to enable the quadruped robot to adjust its gait planning according to the degree of rougged terrain even when it is not equipped with vision sensors,in order to improve stability and adaptability in complex and unknown terrain.For the quadruped robot to achieve a fast trot,a similar elliptical trajectory generation method is proposed to ensure that the robot can move continuously throughout the stride process where the swing phase and support phases are exchanged with each other.However,the elliptical trajectory imitating the animal trot does not guarantee the stability of the body motion,and an improved particle swarm algorithm is proposed based on the stability of the body to provide a global optimisation solution for this highly non-linear system.Finally,a dynamic simulation model is built in Simlink to realize the trot gait motion in one movement cycle.The simulation results demonstrate the reliability of the diagonal gait planning method.

关 键 词：四足机器人 改进粒子群算法 类椭圆足端轨迹规划 动态仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]