基于改进遗传算法的舞蹈机器人步态稳定控制技术研究  

Research on Gait Stability Control Technology of Dance Robot Based on Improved Genetic Algorithm

作　　者：于茜 齐飞 田广昊[3] YU Qian;QI Fei;TIAN Guanghao(Xi’an Vocational and Technical College,Xi’an 710077,China;Xingzhi College of Xi’an University of Finance and Economics,Xi’an 710038,China;Xidian University,Xi’an 710071,China)

机构地区：[1]西安职业技术学院,西安710077 [2]西安财经大学行知学院,西安710038 [3]西安电子科技大学,西安710071

出　　处：《自动化与仪器仪表》2024年第9期272-275,共4页Automation & Instrumentation

基　　金：陕西省2022年创新能力支持计划陕西省科技厅软科学研究计划项目《中国近代舞蹈音乐资源共享数据库建设》(2022KRM039)。

摘　　要：为了实现舞蹈机器人的步态稳定控制,研究提出了一种基于遗传算法的步态规划方法,综合考虑机器人各关节的运动性能和步态的稳定性,实现高效且稳定的舞蹈步态规划。结果显示,Ztop为0.158 m;Z_n为0.107 m;Xm为0.060 m;X_n为0.115 m;Htop为0.070 m。改进的遗传算法可以有效地求解舞蹈机器人步态稳定控制参数。机器人的步态,在前向及纵向的轨迹,与规划路径一致,符合实验预期设计。研究提出的改进遗传算法能够有效地解决舞蹈机器人步态稳定控制问题,具有高效、稳定的特性,并且在运动性能和稳定性上都优于传统方法。研究不仅扩展了舞蹈机器人步态规划的理论和方法,同时也实践验证了改进遗传算法在实际应用中的有效性和可靠性,为舞蹈机器人的技术进步提供了有力的算法支持。In order to achieve stable gait control of dance robots,a gait planning method based on genetic algorithm is proposed,which comprehensively considers the motion performance of each joint of the robot and the stability of the gait,achieving efficient and stable dance gait planning.The results show that Z top is 0.158 m;Z n is 0.107 m;X m is 0.060 m;X n is 0.115 m;H top is 0.070 m.The improved genetic algorithm can effectively solve the gait stability control parameters of dance robots.The gait of the robot,in both forward and longitudinal trajectories,is consistent with the planned path and meets the expected experimental design.The improved genetic algorithm proposed in the study can effectively solve the gait stability control problem of dance robots,with efficient and stable characteristics,and superior to traditional methods in terms of motion performance and stability.The research not only expands the theory and methods of gait planning for dance robots,but also verifies the effectiveness and reliability of improved genetic algorithms in practical applications,providing strong algorithm support for the technological progress of dance robots.

关 键 词：舞蹈机器人 遗传算法 稳定控制 运动学模型 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]